mitsubishi MDS-C1-SPA Instruction Manual
MELDAS is a registered trademark of Mitsubishi Electric Corporation.
Other company and product names that appear in this manual are trademarks or registered
trademarks of their respective companies.
Introduction
Thank you for selecting the Mitsubishi numerical control unit.
This instruction manual describes the handling and caution points for using this AC
servo/spindle.
Incorrect handling may lead to unforeseen accidents, so always read this instruction
manual thoroughly to ensure correct usage.
Make sure that this instruction manual is delivered to the end user.
Always store this manual in a safe place.
All specifications for the MDS-C1-SPA Series are described in this manual. However,
each CNC may not be provided with all specifications, so refer to the specifications for
the CNC on hand before starting use.
Notes on Reading This Manual
(1) Since the description of this specification manual deals with NC in general, for the
specifications of individual machine tools, refer to the manuals issued by the
respective machine manufacturers. The "restrictions" and "available functions"
described in the manuals issued by the machine manufacturers have precedence
to those in this manual.
(2) This manual describes as many special operations as possible, but it should be
kept in mind that items not mentioned in this manual cannot be performed.
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".
Note that some items described as
the situation. In any case, important information that must be observed is described.
The numeric control unit is configured of the control unit, operation board, servo drive unit,
spindle drive unit, power supply unit, servomotor and spindle motor, etc.
In this section "Precautions for safety", the following items are generically called the
"servomotor".
• Servomotor
• Spindle motor
DANGER
WARNING
CAUTION
When there is a potential risk of fatal or serious injuries if
handling is mistaken.
When operator could be fatally or seriously injured if handling
is mistaken.
When a dangerous situation may occur if handling is mistaken
leading to medium or minor injuries, or physical damage.
CAUTION
may lead to major results depending on
In this section "Precautions for safety", the following items are generically called the "servo
drive unit".
• Servo drive unit
• Spindle drive unit
• Power supply unit
1. Electric shock prevention
Do not open the front cover while the power is ON or during operation. Failure to observe this
could lead to electric shocks.
Do not operate the unit with the front cover removed. The high voltage terminals and charged
sections will be exposed, and can cause electric shocks.
Do not remove the front cover even when the power is OFF unless carrying out wiring work or
periodic inspections. The inside of the units is charged, and can cause electric shocks.
Wait at least 15 minutes after turning the power OFF before starting wiring, maintenance or
inspections. Failure to observe this could lead to electric shocks.
Ground the servo drive unit and servomotor with Class C (former class 3) grounding or higher.
Wiring, maintenance and inspection work must be done by a qualified technician.
Wire the servo drive unit and servomotor after installation. Failure to observe this could lead to
electric shocks.
Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks.
Do not damage, apply forcible stress, place heavy items on the cables or get them caught.
Failure to observe this could lead to electric shocks.
WARNING
1. Fire prevention
Install the servo drive units, servomotors and regenerative resistor on noncombustible
material. Direct installation on combustible material or near combustible materials could le ad
to fires.
Shut off the power on the servo drive unit side if the servo drive unit fails. 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 o v erheat 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.
2. Injury prevention
Do not apply a voltage other than that specified in Instruction Manual on each terminal. Failure
to observe this item could lead to ruptures or damage, etc.
Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or
damage, etc.
Do not mistake the polarity (
damage, etc.
The servo drive unit's fins, regenerative resistor and servomotor, etc., may reach high
temperatures while the power is ON, and may remain hot for some time after the power is
turned OFF. Touching these parts could result in burns.
CAUTION
+
,
). Failure to observe this item could lead to ruptures or
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 servomotor's hanging bolts only when transporting the servomotor. Do not transport
the servomotor when it is installed on the machine.
Do not stack the products above the tolerable number.
Do not hold the cables, axis or detector when transporting the servomotor.
Do not hold the connected wires or cables when transporting the servo drive units.
Do not hold the front cover when transporting the servo drive units. The unit could drop.
Follow this Instruction Manual and install in a place where the weight can be borne.
Do not get on top of or place heavy objects on the unit.
Always observe the installation directions.
Secure the specified distance between the servo drive unit and control panel's inne r wall, and
between other devices.
Do not install or run a servo drive unit or servomotor that is damaged or missing parts.
Do not block the intake or exhaust ports of the servomotor provided with a cooling fan.
Do not let foreign objects enter the servo drive units or servomotors. In particular, if
conductive objects such as screws or metal chips, etc., or combustible materials such as oil
enter, rupture or breakage could occur.
The servo drive units and servomotors 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.
Ambient temperature 0°C to +55°C (with no freezing) 0°C to +40°C (with no freezing)
Ambient humidity
Storage temperature -15°C to +70°C
Storage humidity 90%RH or less (with no dew condensation)
Atmosphere
Altitude 1,000m or less above sea level
Environment
Vibration 4.9m/s
Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor
slipping off during operation.
Always install the servomotor with reduction gear in the designated direction. Failure to do
so could lead to oil leaks.
Structure the rotary sections of the motor so that it can never be touched during operation.
Install a cover, etc., on the shaft.
When installing a coupling to a servomotor shaft end, do not apply an impact by
hammering, etc. The detector could be damaged.
Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft
could break.
Store the motor in the package box.
When inserting the shaft into the built-in IPM motor, do not heat the rotor higher than
130°C. The magnet could be demagnetized, and the specifications characteristics will not
be ensured.
If the unit has been stored for a long time, always check the operation before starting
actual operation. Please contac t the Service Center or Service Station.
Servo drive unit Servomotor
90%RH or less
(with no dew condensation)
Indoors (where unit is not subject to direct sunlight),
with no corrosive gas, combustible gas, oil mist,
dust or conductive particles
2
(0.5G) or less
Conditions
80% RH or less
(with no dew condensation)
To follow each unit and motor
specifications
(2) Wiring
CAUTION
Correctly and securely perform the wiring. Failure to do so could lead to runaway of the
servomotor.
Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of
the servo drive unit.
Correctly connect the output side (terminals U, V, W). Failure to do so could lead to abnormal
operation of the servomotor.
Do not directly connect a commercial
power supply to the servomotor. Failure
to observe this could result in a fault.
Servodrive unit
COM
(24VDC)
Servodrive unit
COM
(24VDC)
When using an inductive load such as a
relay, always connect a diode as a noise
measure parallel to the load.
Controloutput
signal
RA
Control output
signal
When using a capacitance load such as a lamp, always connect a protective resistor a s a
noise measure serial to the load.
Do not reverse the direction of a diode which connect to a DC relay for the control output
signals to suppress a surge. Connecting it backwards could cause the drive unit to malfunction
so that signals are not output, and emergency stop and other safety circuits are inoperable.
Do not connect/disconnect the cables connected between the units while the power is ON.
Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could
cause the cable to fall off while the power is ON.
When using a shielded cable instructed in the connection manual, always ground the cable with
a cable clamp, etc.
Always separate the signals wires from the drive wire and power line.
Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to
the system.
RA
(3) Trial operation and adjustment
Check and adjust each program and parameter before starting operation. Failure to do so could
lead to unforeseen operation of the machine.
Do not make remarkable adjustments and changes as the operatio n could become unstable.
(4) Usage methods
Install an external emergency stop circuit so that the operation can be stopped and power
shut off immediately.
Turn the power OFF immediately if smoke, abnormal noise or odors are generated from the
servo drive unit or servomotor.
Unqualified persons must not disassemble or repair the unit.
Never make modifications.
Reduce magnetic damage by installing a noise filter. The electronic devices used near the
servo drive unit could be affected by magnetic noise.
Use the servo drive unit, servomotor and regenerative resistor with the designated combination.
Failure to do so could lead to fires or trouble.
The brake (magnetic brake) assembled into the servomotor is for holding, and must not be used
for normal braking.
There may be cases when holding is not possible due to the magnetic brake's life or the
machine construction (when ball screw and servomotor are coupled via a timing belt, etc.).
Install a stop device to ensure safety on the machine side.
After changing the programs/parameters or after maintenance and inspection, always test the
operation before starting actual operation.
Do not enter the movable range of the machine during automatic operation. Never place body
parts near or touch the spindle during rotation.
Follow the power supply specification conditions given in the separate specifications manual for
the power (input voltage, input frequency, tolerable sudden power failure time, etc.).
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 breaker is shared by several power supply units, the breaker may not activate when a
short-circuit fault occurs in a small capacity unit. This is dangerous, so never share the
breakers.
CAUTION
(5) Troubleshooting
If a hazardous situation is predicted during power failure or product trouble, use a servomotor
with magnetic brakes or install an external brake mechanism.
Use a double circuit configuration
that allows the operation circuit for
the magnetic brakes to be operated
even by the external emergency
stop signal.
CAUTION
Shut off with the servomotor
brake control output.
Servomotor
Magnetic
brake
Shut off with NC brake
control PLC output.
MBR
EMG
24VDC
Always turn the input power OFF when an alarm occurs.
Never go near the machine after restoring the power after a power failure, as the machine
could start suddenly. (Design the machine so that personal safety can be ensured even if the
machine starts suddenly.)
(6) Maintenance, inspection and part replacement
Always carry out maintenance and inspection after backing up the servo drive unit's programs
or parameters.
The capacity of the electrolytic capacitor will drop over time. 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 or Service Station for replacement.
Do not perform a megger test (insulation resistance measurement) during inspections.
If the battery low warning is issued, save the machining programs, tool data and parameters
with an input/output unit, and then replace the battery.
Do not short circuit, charge, overheat, incinerate or disassemble the battery.
(7) Disposal
Treat this unit as general industrial waste. Note that MDS Series unit with a heat dissipating
fin protruding from the back of the unit contains substitute Freon. Do not dispose of this type
of unit as general industrial waste. Always return to the Service Center or Service Station.
Do not disassemble the servo drive unit or servomotor parts.
Dispose of the battery according to local laws.
(8) General precautions
The drawings given in this Specifications and Maintenance Instruction Manual show the covers and
safety partitions, etc., removed to provide a clearer explanation. Always return the covers or partitions to
their respective places before starting operation, and always follow the instructions given in this manual.
CONTENTS
1. Installation
1-1 Installation of spindle motor.................................................................................................1-2
1-1-1 Environmental conditions .............................................................................................. 1-2
1-1-2 Shaft characteristics ...................................................................................................... 1-2
1-2 Installation of the control unit............................................................................................... 1-3
1-2-1 Environmental conditions .............................................................................................. 1-3
1-2-2 Installation direction and clearance ............................................................................... 1-4
1-2-3 Prevention of entering of foreign matter........................................................................ 1-4
1-2-4 Panel installation hole work drawings (Panel cut drawings)......................................... 1-5
1-2-5 Heating value................................................................................................................. 1-6
1-2-6 Heat radiation countermeasures................................................................................... 1-7
1-3 Installing the spindle detector.............................................................................................. 1-9
1-3-1 Magnetic sensor ............................................................................................................ 1-9
1-3-2 Spindle side detector................................................................................................... 1-11
1-4 Noise measures ................................................................................................................. 1-12
2. Wiring and Connection
2-1 Connection diagram............................................................................................................. 2-3
2-1-1 Part system connection diagram...................................................................................... 2-3
2-1-2 Detailed connection diagram ........................................................................................... 2-4
2-2 Main circuit terminal block/control circuit connector............................................................ 2-7
2-2-1 Names and applications of main circuit terminal block signals and control circuit
connectors..................................................................................................................... 2-7
2-2-2 Connector pin assignment............................................................................................. 2-8
2-3 Drive unit connection ......................................................................................................... 2-11
2-4 Motor and detector connection .......................................................................................... 2-14
2-4-1 Connection of the spindle motor.................................................................................. 2-14
2-5 Connection of power supply.............................................................................................. 2-17
2-5-1 Power supply input connection ...................................................................................... 2-17
2-5-2 Connecting the grounding cable.................................................................................. 2-20
2-5-3 Main circuit control ......................................................................................................... 2-21
2-6 Peripheral control wiring .................................................................................................... 2-23
2-6-1 Input interface ..............................................................................................................2-23
2-6-2 Output interface ........................................................................................................... 2-25
2-6-3 Spindle coil changeover .............................................................................................. 2-27
2-6-4 Wiring of an external emergency stop......................................................................... 2-30
3. Setup
3-1 Initial setup ........................................................................................................................... 3-2
3-1-1 Setting the rotary switch ................................................................................................3-2
3-1-2 Transition of LED display after power is turned ON...................................................... 3-3
3-2 Setting the initial parameters for the spindle drive unit....................................................... 3-4
3-2-1 Parameter setting method ............................................................................................. 3-4
3-2-2 List of spindle parameters ............................................................................................. 3-6
3-3 Initial adjustment of the spindle PLG................................................................................. 3-26
3-3-1 Adjusting the PLG installation...................................................................................... 3-26
4. Spindle Adjustment
4-1 D/A output specifications for spindle drive unit ................................................................... 4-2
4-1-1 D/A output specifications............................................................................................... 4-2
4-1-2 Setting the output data ..................................................................................................4-2
4-1-3 Setting the output magnification.................................................................................... 4-3
4-2 Spindle control signal........................................................................................................... 4-5
4-2-1 Spindle control input (NC to SP) ................................................................................... 4-5
4-2-2 Spindle control output (SP to NC)............................................................................... 4-15
4-3 Adjustment procedures for each control ........................................................................... 4-27
4-3-1 Basic adjustments........................................................................................................ 4-27
4-3-2 Adjusting the acceleration/deceleration operation...................................................... 4-30
4-3-3 Adjusting the orientation control.................................................................................. 4-39
4-3-4 Adjusting the multi-point indexing orientation control.................................................. 4-55
4-3-5 Adjusting S-analog high-speed tapping control .......................................................... 4-64
4-3-6 Adjusting coil changeover............................................................................................ 4-69
5. Troubleshooting
5-1 Points of caution and confirmation ...................................................................................... 5-2
5-1-1 LED display when alarm or warning occurs.................................................................. 5-3
5-2 Protective functions list of units ...........................................................................................5-4
5-2-1 List of alarms.................................................................................................................. 5-4
5-2-2 List of warnings .............................................................................................................. 5-6
5-3 Troubleshooting ................................................................................................................... 5-7
5-3-1 Troubleshooting at power ON ....................................................................................... 5-7
5-3-2 Troubleshooting for each alarm No............................................................................... 5-8
5-3-3 Troubleshooting for each warning No......................................................................... 5-21
5-3-4 Troubleshooting the spindle system when there is no alarm or warning ................... 5-22
6. Maintenance
6-1 Inspections........................................................................................................................... 6-2
6-2 Service parts ........................................................................................................................ 6-2
6-3 Adding and replacing units and parts.................................................................................. 6-3
6-3-1 Replacing the drive unit.................................................................................................6-3
6-3-2 Replacing the unit fan.................................................................................................... 6-4
Appendix 1. Cable and Connector Specifications
Appendix 1-1 Selection of cable ..............................................................................................A1-2
Appendix 1-1-1 Cable wire and assembly............................................................................A1-2
Appendix 1-2 Cable connection diagram.................................................................................A1-4
Appendix 1-3 Connector outline dimension drawings.............................................................A1-8
Appendix 2. Compliance to EC Directives
Appendix 2-1 Compliance to EC Directives ............................................................................A2-2
Appendix 2-1-1 European EC Directives..............................................................................A2-2
Appendix 2-1-2 Cautions for EC Directive compliance ........................................................A2-2
Appendix 3. EMC Installation Guidelines
Appendix 3-1 Introduction ........................................................................................................A3-2
Appendix 3-2 EMC instructions ...............................................................................................A3-2
Appendix 3-3 EMC measures..................................................................................................A3-3
Appendix 3-4 Measures for panel structure.............................................................................A3-3
Appendix 3-4-1 Measures for control panel unit...................................................................A3-4
Appendix 3-4-2 Measures for door .......................................................................................A3-4
Appendix 3-4-3 Measures for operation board panel...........................................................A3-5
Appendix 3-4-4 Shielding of the power supply input section................................................A3-5
Appendix 3-5 Measures for various cables .............................................................................A3-6
Appendix 3-5-1 Measures for wiring in panel .......................................................................A3-6
Appendix 3-5-2 Measures for shield treatment.....................................................................A3-6
Appendix 3-5-3 Spindle motor power cable..........................................................................A3-7
Appendix 3-5-4 Servo motor feedback cable .......................................................................A3-7
Appendix 3-5-5 Spindle motor power cable..........................................................................A3-8
Appendix 3-5-6 Spindle motor feedback cable.....................................................................A3-8
Appendix 3-6 EMC countermeasure parts ..............................................................................A3-9
Appendix 3-6-1 Shield clamp fitting ......................................................................................A3-9
Appendix 3-6-2 Ferrite core ................................................................................................A3-10
Appendix 3-6-3 Power line filter..........................................................................................A3-11
Appendix 3-6-4 Surge protector..........................................................................................A3-16
Appendix 4. Servo/spindle drive unit categories based on higher harmonic suppression
countermeasure guidelines
Appendix 4-1 Servo/spindle drive unit circuit categories based on higher harmonic suppression
countermeasure guidelines...............................................................................A4-2
Contents for MDS-C1-SPA Series SPECIFICATIONS MANUAL (IB-1500150)
1. Introduction
1-1 Spindle drive system configuration .....................1-2
1-1-1 System configuration.................................................1-2
1-1-2 Unit outline type.........................................................1-3
1-2 Explanation of type..............................................1-4
1-2-1 Spindle motor type.....................................................1-4
1-2-2 Spindle drive unit type ...............................................1-5
1-2-3 Power supply unit type...............................................1-6
1-2-4 AC reactor type..........................................................1-7
2. Specifications
2-1 Spindle motor ......................................................2-2
2-1-1 Specifications............................................................2-2
2-1-2 Output characteristics................................................2-7
2-2 Drive unit .............................................................2-12
2-2-1 Installation environment conditions............................2-12
2-2-2 Spindle drive unit.......................................................2-12
2-2-3 Power supply unit ......................................................2-17
2-2-4 AC reactor .................................................................2-18
2-2-5 D/A output specifications for spindle drive unit...........2-19
2-2-6 Explanation of each part............................................2-20
2-3 Restrictions and precautions ...............................2-22
2-3-1 Layout of unit.............................................................2-22
2-3-2 Precautions for installing multiple power supply units2-23
2-3-3 Precautions when installing multiple spindle drive
units to one power supply unit...................................2-24
3. Characteristics
3-1 Spindle motor ......................................................3-2
3-1-1 Environmental conditions...........................................3-2
3-1-2 Shaft characteristics ..................................................3-2
3-2 Drive unit characteristics .....................................3-3
3-2-1 Environmental conditions...........................................3-3
3-2-2 Heating value.............................................................3-4
4. Dedicated Options
4-1 Orientation option................................................4-2
4-1-1 Magnetic sensor........................................................4-3
4-1-2 Spindle side detector (OSE-1024-3-15-68,
OSE-1024-3-15-68-8)................................................4-6
4-2 Cables and connectors .......................................4-8
4-2-1 Cable connection diagram.........................................4-8
4-2-2 List of cables and connectors ....................................4-9
5. Peripheral Devices
5-1 Selection of wire ..................................................5-2
5-1-1 Example of wires by unit............................................5-2
5-2 Selection the AC reactor, contactor and no-fuse
breaker ...............................................................5-4
5-2-1 Standard selection.....................................................5-4
5-2-2 Selection of contactor for changing over spindle
motor drive wire.........................................................5-5
5-3 Earth leakage breaker .........................................5-6
5-4 Branch-circuit protection .....................................5-7
5-4-1 Circuit protector .........................................................5-7
5-4-2 Fuse protection..........................................................5-7
5-5 Noise filter ...........................................................5-8
5-6 Surge absorber ...................................................5-9
5-7 Speedometer and load meter..............................5-10
5-8 Cable for peripheral control.................................5-11
5-8-1 Cable for external emergency stop............................5-11
(Note) This is the content for SPECIFICATION MANUAL version A. The structure of section and page number may be different
other than version B.
Appendix 1. Outline Dimension Drawings
Appendix 1-1 Outline dimension drawings of spindle
motor ..................................................A1-2
Appendix 1-1-1 SJ Series...................................................A1-2
Appendix 1-1-2 SJ-V Series................................................ A1-5
Appendix 1-1-3 SJ-VS Series .............................................A1-15
Appendix 1-2 Unit outline dimension drawings.........A1-17
Appendix 1-2-1 Spindle drive unit.......................................A1-17
Appendix 1-2-2 Power supply unit ......................................A1-21
Appendix 1-2-3 AC rector ...................................................A1-25
Appendix 2. Cable and Connector Specifications
Appendix 2-1 Selection of cable ...............................A2-2
Appendix 2-1-1 Cable wire and assembly...........................A2-2
Appendix 2-2 Cable connection diagram.................. A2-4
Appendix 2-3 Connector outline dimension drawings
............................................................A2-8
Appendix 3. Selection
Appendix 3-1 Selecting the power supply................. A3-2
Appendix 3-1-1 Selecting according to the continuous
rated capacity............................................A3-2
Appendix 3-1-2 Selection example .....................................A3-3
Appendix 4. Explanation of Large Capacity Spindle Unit
Specifications
Appendix 4-1 Explanation of large capacity spindle unit
specifications......................................A4-2
Appendix 4-1-1 Outline.......................................................A4-2
Appendix 4-1-2 List of units ................................................A4-2
Appendix 4-1-3 Selection of AC reactor (B-AL), contactor
and NFB....................................................A4-2
Appendix 4-1-4 Outline dimension drawings.......................A4-3
Appendix 4-1-5 Panel cut dimension drawing.....................A4-8
Appendix 4-1-6 Heating value.............................................A4-9
Appendix 4-1-7 Selecting the power capacity.....................A4-9
Appendix 4-1-8 Selecting the wire size...............................A4-9
Appendix 4-1-9 Drive unit connection screw size................A4-10
Appendix 4-1-10 Connecting each unit...............................A4-10
Appendix 4-1-11 Restrictions..............................................A4-12
Appendix 4-1-12 Parameters..............................................A4-14
Appendix 4-1-13 Precautions..............................................A4-14
Appendix 5. Explanation of Small Capacity Spindle Drive Unit
Specifications
Appendix 5-1 Explanation of small capacity spindle
drive unit specifications....................... A5-2
Appendix 5-1-1 Outline.......................................................A5-2
Appendix 5-1-2 List of units ................................................A5-2
Appendix 5-1-3 Outline dimension drawings.......................A5-2
Appendix 5-1-4 Drive unit specifications list ........................A5-4
Appendix 5-1-5 Heating value.............................................A5-5
Appendix 5-1-6 Selecting the wire size...............................A5-5
Appendix 5-1-7 Drive unit connection screw size................A5-5
Appendix 5-1-8 Restrictions................................................A5-6
Appendix 6. Compliance to EU EC Directives
Appendix 6-1 Compliance to EC Directives..............A6-2
Appendix 6-1-1 European EC Directives ............................A6-2
Appendix 6-1-2 Cautions for EC Directive compliance........A6-2
Contents for MDS-C1-SPA Series SPECIFICATIONS MANUAL (IB-1500150)
Appendix 7. EMC Installation Guidelines
Appendix 7-1 Introduction .........................................A7-2
Appendix 7-2 EMC instructions .................................A7-2
Appendix 7-3 EMC measures ...................................A7-3
Appendix 7-4 Measures for panel structure ..............A7-3
Appendix 7-4-1 Measures for control panel unit..................A7-3
Appendix 7-4-2 Measures for door......................................A7-4
Appendix 7-4-3 Measures for operation board panel..........A7-4
Appendix 7-4-4 Shielding of the power supply input section
..................................................................A7-4
Appendix 7-5 Measures for various cables...............A7-5
Appendix 7-5-1 Measures for wiring in panel......................A7-5
Appendix 7-5-2 Measures for shield treatment....................A7-5
Appendix 7-5-3 Servomotor power cable............................A7-6
Appendix 7-5-4 Servomotor feedback cable .......................A7-6
Appendix 7-5-5 Spindle motor power cable.........................A7-7
Appendix 7-5-6 Spindle motor feedback cable....................A7-7
Appendix 7-6 EMC countermeasure parts................A7-8
Appendix 7-6-1 Shield clamp fitting.....................................A7-8
Appendix 7-6-2 Ferrite core ................................................A7-9
Appendix 7-6-3 Power line filter..........................................A7-10
Appendix 7-6-4 Surge protector..........................................A7-15
Appendix 8. Instruction Manual for Compliance with UL/c-UL
Standard
Appendix 8 Instruction Manual for Compliance with UL/c-UL
Standard.................................................A8-2
Appendix 9. Compliance with China Compulsory Product
Certification (CCC Certification) System
Appendix 9-1 Outline of China Compulsory Product
Certification System............................A9-2
Appendix 9-2 First Catalogue of Products subject to
Compulsory Product Certification........A9-2
Appendix 9-3 Precautions for Shipping Products......A9-3
Appendix 9-4 Application for Exemption ...................A9-4
Appendix 9-5 Mitsubishi NC Product Subject to/Not Subject
to CCC Certification ............................A9-5
(Note) This is the content for SPECIFICATION MANUAL version A. The structure of section and page number may be different
other than version B.
1. Installation
1-1 Installation of spindle motor ............................................................................................................... 1-2
1-1-1 Environmental conditions............................................................................................................1-2
1-1-2 Shaft characteristics.................................................................................................................... 1-2
1-2 Installation of the control unit ............................................................................................................. 1-3
1-2-1 Environmental conditions............................................................................................................1-3
1-2-2 Installation direction and clearance.............................................................................................1-4
1-2-3 Prevention of entering of foreign matter......................................................................................1-4
1-2-4 Panel installation hole work drawings (Panel cut drawings).......................................................1-5
1-2-5 Heating value ..............................................................................................................................1-6
1-2-6 Heat radiation countermeasures................................................................................................. 1-7
1-3 Installing the spindle detector.............................................................................................................1-9
1-3-1 Magnetic sensor.......................................................................................................................... 1-9
1-3-2 Spindle side detector.................................................................................................................1-11
1-4 Noise measures ...............................................................................................................................1-12
1 - 1
1. Installation
1-1 Installation of spindle motor
1. Do not hold the cables, axis or detector when transporting the motor. Failure to
observe this could lead to faults or injuries.
2. Securely fix the motor to the machine. Insufficient fixing could lead to the
motor deviating during operation. Failure to observe this could lead to
injuries.
CAUTION
1-1-1 Environmental conditions
Environment Conditions
Ambient temperature 0°C to +40°C (with no freezing)
Ambient humidity 90%RH or less (with no dew condensation)
Storage temperature -20°C to +65°C (with no freezing)
Storage humidity 90%RH or less (with no dew condensation)
Atmosphere
Altitude
(Note) Refer to each spindle motor specifications for details on the spindle motor vibration conditions.
1-1-2 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
also affect the motor output torque, so consider them when designing the machine.
SJ-V3.7-02ZM 490 N
SJ-V2.2-01, SJ-V3.7-01
SJ-V7.5-03ZM, SJ-V11-06ZM
SJ-V5.5-01, SJ-V11-08ZM
SJ-PMF01830-00
SJ-V7.5-01, SJ-V11-01
SJ-V22-06ZM, SJ-V30-02ZM, SJ-PMF03530-00
SJ-V11-09, SJ-V15-01, SJ-V15-03, SJ-V18.5-01, SJ-V18.5-03
SJ-V22-01, SJ-V22-05, SJ-V26-01, SJ-30A
SJ-22XW5 3920 N
SJ-37BP 4900 N
SJ-22XW8, SJ-45BP
SJ-V55-01
3. When coupling to a servomotor shaft end, do not apply an impact by
hammering, etc. The detector could be damaged.
4. Never touch the rotary sections of the motor during operations. Install a
cover, etc., on the shaft.
5. Do not apply a load exceeding the tolerable load onto the servomotor shaft.
The shaft could break. Failure to observe this could lead to injuries.
6. Do not connect or disconnect any of the connectors while the power is ON.
Indoors (Where unit is not subject to direct sunlight)
No corrosive gases, flammable gases, oil mist or dust
Operation/storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
Spindle motor Tolerable radial load
980 N
1470 N
1960 N
2940 N
5880 N
Radial load
(Note) The load point is at the one-half of the shaft length.
1 - 2
1-2 Installation of the control unit
1. Install the unit on noncombustible material. Direct installation on
combustible material or near combustible materials may lead to fires.
2. Follow the instructions in this manual and install the unit while allowing for
the unit weight.
3. Do not get on top of the units or motor, or place heavy objects on the unit.
Failure to observe this could lead to injuries.
4. Always use the unit within the designated environment conditions.
5. Do not let conductive objects such as screws or metal chips, etc., or
combustible materials such as oil enter the units.
CAUTION
6. Do not block the units intake and outtake ports. Doing so could lead to
failure.
7. The units and servomotor are precision devices, so do not drop them or apply
strong impacts to them.
8. Do not install or run units or servomotor that is damaged or missing parts.
9. When storing for a long time, please contact your dealer.
10. Always observe the installation directions. Failure to observe this could lead to
faults.
11. Secure the specified distance between the units and panel, or between the
units and other devices. Failure to observe this could lead to faults.
1. Installation
1-2-1 Environmental conditions
Environment Conditions
Ambient temperature 0°C to +55°C (with no freezing)
Ambient humidity 90%RH or less (with no dew condensation)
Storage temperature -15°C to +70°C (with no freezing)
Storage humidity 90%RH or less (with no dew condensation)
Atmosphere
Altitude
Vibration
(Note) When installing the machine at 1,000m or more above sea level, the heat dissipation characteristics will drop as the
altitude increases. The upper limit of the ambient temperature drops 1°C with every 100m increase in altitude. (The
ambient temperature at an altitude of 2,000m is between 0 and 45°C.)
no corrosive gases, inflammable gases, oil mist, dust or conductive particles
Indoors (no direct sunlight);
Operation/storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
Operation/storage: 4.9m/s
Transportation: 49m/s
2
(0.5G) or less
2
(5G) or less
1 - 3
1. Installation
1-2-2 Installation direction and clearance
Wire each unit in consideration of the maintainability and the heat dissipation, as well as secure
sufficient space for ventilation.
75mm or more
10mm
or
more
100mm or
more
100mm or
more
10mm
or
more
50mm
or more
100mm or
more
100mm or
more
The ambient temperature condition for the power supply unit or the drive units is
55°C or less. Because heat can easily accumulate in the upper portion of the
CAUTION
units, give sufficient consideration to heat dissipation when designing the panel.
If required, install a fan in the panel to agitate the heat in the upper portion of the
units.
1-2-3 Prevention of entering of foreign matter
Treat the cabinet with the following items.
• Make sure that the cable inlet is dust and oil proof by using
packing, etc.
• Make sure that the external air does not enter inside by
using head radiating holes, etc.
• Close all clearances.
• Securely install door packing.
• If there is a rear cover, always apply packing.
• Oil will tend to accumulate on the top. Take special
measures such as oil-proofing to the top so that oil does
not enter the cabinet from the screw holds.
• After installing each unit, avoid machining in the periphery.
If cutting chips, etc., stick onto the electronic parts, trouble
may occur.
• When using the unit in an area with toxic gases or high
levels of dust, protect the unit with air purging (system to
blow clean air so that the panel's inner pressure is higher
than the outer pressure).
50mm
or more
100mm or
more
100mm or
more
1 - 4
1. Installation
1-2-4 Panel installation hole work drawings (Panel cut drawings)
Prepare a square hole to match the unit width.
[Unit: mm]
2-M5 screw
Square hole
(Note 1)
82
Unit width: 90mm
Square hole
(Note 1)
342
360
342
360
60
Square hole
(Note 1)
342
360
2-M5 screw
112
Unit width: 120mm Unit width: 150mm
POINT
Attach packing around the square hole to provide a seal.
1 - 5
4-M5 screw
142
1. Installation
1-2-5 Heating value
Each heating value is calculated with the following values.
The values for the spindle drive unit are for a continuous rated output. The value for the power supply
unit includes the AC reactor's heating value.
Servo drive unit Power supply unit
Heating amount
Inside
panel
[W]
Outside
panel
Type
MDS-C1-
CV-300 46 274
CV-370 54 346
Type
MDS-C1-
SPA- 55 31 76 CV- 37 21 34
SPA- 75 35 102 CV- 55 23 42
SPA-110 41 140 CV- 75 25 55
SPA-150 48 187 CV-110 26 99
SPA-185 62 280 CV-150 29 126
SPA-220 65 301 CV-185 33 162
SPA-260 80 403 CV-220 35 175
SPA-300 98 522 CV-260 40 220
Heating amount
[W]
Inside
panel
Outside
panel
(Example 1)
When using MDS-C1-CV-185, MDS-C1-SPA[]-185[]
Total heating value = (33+162) + (62+280)
Heating value in panel = (33) + (62)
= 537 [W]
= 95 [W]
1 - 6
1. Installation
1-2-6 Heat radiation countermeasures
In order to secure reliability and life, design the temperature in the panel so that the ambient
temperature of each unit is 55°C or less.
If heat accumulates at the top of the unit, etc., install a fan so that the temperature in the panel remains
constant.
(Note) Due to the structure, heat easily accumulates at the
top of the unit. Install a fan in the power distribution
panel to circulate the heat at the top of the unit.
(Inside panel)
Wind sp eed 2m/s or more
Fan
1 - 7
r
1. Installation
Please refer to following method for heat radiation countermeasures.
W ≤ W1
∆T
Calculate total heat radiation of each
mounted unit (W)
Calculate cabinet’s cooling capacity
Comparison of W and W1
Selection of heat exchanger
Collection of internal temperature rise
distribution data
≤10°C
(W1)
Mounting design
Evaluation
∆T>10°C
Improvements
Completion
W>W1
<Hypothetical conditions>
(1) Average temperature in cabinet : T ≤ 55°C
(2) Cabinet peripheral temperature : Ta ≤ 0°C to 45°C
(3) Internal temperature rise value : ∆T =T–Ta
<Supplement>
1) Refer to Specifications Manual, etc. for the heat
generated by each unit.
2) Enclosed cabinet (thin steel plate) cooling capacity
calculation equation
W1 = U × A × ∆T
U: 6W/m
4W/m
A: Effective heat radiation area (m
(Heat dissipation area in panel)
Sections contacting other objects are excluded.
∆T: Internal temperature rise value (10°C)
3) Points of caution for heat radiation countermeasures
when designing mounting state
• Layout of convection in panel
• Collect hot air at suction port in heat exchanger
cabinet.
4) Understanding the temperature rise distribution in the
panel
∆T (average value) ≤ 10°C
∆T
max (maximum value) ≤ 15°C
R (inconsistency) = (∆T
(Evaluate existence of heat spots)
2 ×
2
Examples of mounting and temperature measurement positions (reference)
z
Measurement position (example)
°C (with internal agitating fan)
× °C (without internal agitating fan)
max – ∆Tmin) ≤ 6°C
2
)
max= 10°C
Flow of air
Flow of air
Heat
exchange
Relay, etc
Unit
1 - 8
w
1-3 Installing the spindle detector
1-3-1 Magnetic sensor
(1) Installing the magnetic sensor
• Tolerance to shaft dimension should
be "h6" on the part for installing a
magnet.
• 2-øG hole can be used for positioning
of spindle and magnet.
• Magnet shall be installed as shown to
the right.
• Misalignment between sensor head
and magnetic center line shall be
within ±2mm.
• There is an NS indication on the side of
the cover. Install so that the reference
notch on the sensor head comes to the
case side.
(2) Gap between magnet and sensor
1. Installation
Reference notch
Spindle
G hole
h6
Gap
Reference drawing for magnet installation
Case
Cover
Spindle damping scre
Spindle
Magnet
Circumference installation
Direction of
rotation
Face A
Reference
hole
Reference
notch
Min. gap
Face A
R
NS
Max. gap
Mounting plate
Reference
hole
Reference
notch
Face B
Horizontal installation
Spindle
Face B
Gap
Magnet
Reference
notch
Direction of
rotation
N
S
R
Reference
hole
Magnet
model
Installation
direction
R (Radius)
mm
40 11.5±0.5 2.7±0.5 6.0±0.5 10.0±0.5 1.22±0.5 5.0±0.5 6.25±0.5 3.30±0.5
50 9.5±0.5 2.8±0.5 6.0±0.5 8.0±0.5 1.31±0.5 5.0±0.5 6.00±0.5 3.70±0.5
60 8.5±0.5 3.0±0.5 6.0±0.5 7.0±0.5 1.50±0.5 5.0±0.5 5.75±0.5 3.85±0.5
70 8.0±0.5 3.4±0.5 7.0±0.5 2.38±0.5 5.50±0.5 3.87±0.5
Max. value Min. value Max. value Min. value Max. value Min. value
BKO-C1810H03 BKO-C1730H06 BKO-C1730H09
Circumference
installation
Gap mm Gap mm Gap mm
Horizontal
installation
Circumference
installation
Horizontal
installation
Circumference
installation
1 - 9
(3) Magnet and sensor installation directions
• Install so that the magnet's reference hole and sensor's reference notch are aligned.
(Standard/high-speed standards)
• Install so that the magnet's N pole comes to the left side when the sensor's reference notch is
faced downward. (High-speed compact/high-speed ring)
Sensor
N S
|
Reference notch
Magnet
(4) Cautions
[1] Do not apply impacts on the magnet. Do not install strong magnets near the magnet.
[2] Sufficiently clean the surrounding area so that iron chips and cutting chips do not adhere to the
magnet. Demagnetize the round disk before installing.
[3] Securely install the magnet onto the spindle with an M4 screw. Take measures to prevent
screw loosening as required.
[4] Balance the entire spindle rotation with the magnet installed.
[5] Install a magnet that matches the spindle's rotation speed.
[6] When installing the magnet onto a rotating body's plane, set the speed to 6,000r/min or less.
[7] Install so that the center line at the end of the head matches the center of the magnet.
[8] The BKO-C1730 is not an oil-proof product. Make sure that oil does not come in contact with
BNO-C1730 or BKO-C1810.
[9] When connecting to the spindle drive unit, wire so that the effect of noise is suppressed.
1. Installation
Sensor
S N
|
Reference notch
Magnet
1 - 10
1. Installation
1-3-2 Spindle side detector
When coupling the spindle side detector with spindle, a flexible coupling should be used to couple the
spindle side detector with the spindle.
Detector
Flexible coupling
Opposite detector shaft
side
Detector and coupling installation accuracy
Recommended coupling
Recommendation 1 Recommendation 2
Manufacturer Tokushu Seiko Eagle
Model Model M1 FCS38A
Resonance frequency 1374Hz 3515Hz
Position detection error 0.8×10-3° 1.2×10-3°
Tolerable speed 20000r/min 10000r/min
Mis-alignment
Outline dimensions
Core deviation 0.7mm 0.16mm
Angle displacement
Max. length 74.5mm 33mm
Max. diameter
Refer to the coupling catalog, etc., for details on the coupling.
0.02
0.02
1.5° 1.5°
ø57mm ø38mm
1 - 11
1. Installation
1-4 Noise measures
Noise includes "propagation noise" generated from the power supply or relay, etc., and propagated
along a cable causing the power supply unit or drive unit to malfunction, and "radiated noise"
propagated through air from a peripheral device, etc., and causing the power supply unit or drive unit to
malfunction.
Always implement these noise measures to prevent the peripheral devices and unit from malfunctioning.
The measures differ according to the noise propagation path, so refer to the following explanation and
take appropriate measures.
(1) General noise measures
• Avoid laying the drive unit's power line and signal wire in a parallel or bundled state. Always
separate these wires. Use a twisted pair shielded wire for the detector cable and signal wires
such as the communication cable connected with the NC, and accurately ground the devices.
• Use one-point grounding for the drive unit and motor.
• Accurately ground the AC reactor.
(2) Propagation noise measures
Take the following measures when noise generating devices are installed and the power supply
unit or drive unit could malfunction.
• Install a surge killer on devices (magnetic contacts, relays, etc.) which generate high levels of
noise.
• Install a power line filter in the stage before the power supply unit.
• Install a ferrite core on the signal wire.
• Ground the shield of the servo detector's cable with a cable clamp.
• Wire the spindle PLG detector cable away from other wires.
(3) Measures against radiated noise
The types of propagation paths of the noise and the noise measures for each propagation path are
shown below.
Noise generated from
drive unit
Airborne
propagation noise
Noise directly radiated
from drive unit
Path [1]
Magnetic ind uction
noise
Static ind uction
noise
Cable propagation
noise
Path [4]
and [5]
Noise radiated f rom
power line
Noise radiated f rom
spindle motor
Noise propagated over
power line
Noise lead in from
grounding wire by
leakage current
Path [2]
Path [3]Path [6]
Path [7]
Path [8]
1 - 12
1. Installation
[5]
[7]
[2]
[1]
Drive
[3]
Spindle motor
Generated noise of drive system
unit
[4]
M
Instrument
[7]
Receiver
Noise propagation path Measures
When devices such as instrument, receiver or sensor, which handle minute signals and are easily
affected by noise, or the signal wire of these devices, are stored in the same panel as the drive
units and the wiring is close, the device could malfunction due to airborne propagation of the noise.
In this case, take the following measures.
[1] [2] [3]
[4] [5] [6]
[7]
[8]
(a) Install devices easily affected as far away from the drive units as possible.
(b) Lay devices easily affected as far away from the signal wire of the drive unit as possible.
(c) Avoid laying the signal wire and power line in a parallel or bundled state.
(d) Insert a line noise filter on the input/output wire or a radio filter on the input to suppress the
noise radiated from the wires.
(e) Use a shield wire for the signal wire and power line, or place in separate metal ducts.
If the signal wire is laid in parallel to the power line, or if it is bundled with the power line, the noise
could be propagated to the signal wire and cause malfunction because of the magnetic induction
noise or static induction noise. In this case, take the following measures.
(a) Install devices easily affected as far away from the drive unit as possible.
(b) Lay devices easily affected as far away from the signal wire of the drive unit as possible.
(c) Avoid laying the signal wire and power line in a parallel or bundled state.
(d) Use a shield wire for the signal wire and power line, or place in separate metal ducts.
If the power supply for the peripheral devices is connected to the power supply in the same system
as the drive units, the noise generated from the power supply unit could back flow over the power
line and cause the devices to malfunction. In this case, take the following measures.
(a) Install a radio filter on the power supply unit's power line.
(b) Install a power filter on the power supply unit's power line.
If a closed loop is created by the peripheral device and drive unit's grounding wire, a leakage
current could flow and cause the device to malfunction.
In this case, change the device grounding methods and the grounding place.
[6]
[2]
Sensor
power
supply
Sensor
[8]
1 - 13
2. Wiring and Connection
2-1 Connection diagram........................................................................................................................... 2-3
2-1-1 Part system connection diagram..................................................................................................2-3
2-1-2 Detailed connection diagram........................................................................................................ 2-4
2-2 Main circuit terminal block/control circuit connector ..........................................................................2-7
2-2-1 Names and applications of main circuit terminal block signals and control circuit connectors ..2-7
2-2-2 Connector pin assignment ..........................................................................................................2-8
2-3 Drive unit connection........................................................................................................................ 2-11
2-4 Motor and detector connection ........................................................................................................2-14
2-4-1 Connection of the spindle motor ...............................................................................................2-14
2-5 Connection of power supply............................................................................................................. 2-17
2-5-1 Power supply input connection .................................................................................................2-17
2-5-2 Connecting the grounding cable ............................................................................................... 2-20
2-5-3 Main circuit control .................................................................................................................... 2-21
2-6 Peripheral control wiring...................................................................................................................2-23
2-6-1 Input interface............................................................................................................................ 2-23
2-6-2 Output interface.........................................................................................................................2-25
2-6-3 Spindle coil changeover............................................................................................................2-27
2-6-4 Wiring of an external emergency stop.......................................................................................2-30
2 - 1
2. Wiring and Connection
1. Wiring work must be done by a qualified technician.
2. Wait at least 15 minutes after turning the power OFF and check the voltage
with a tester, etc., before starting wiring. Failure to observe this could lead to
electric shocks.
3. Securely ground the drive units and spindle motor.
DANGER
4. Wire the drive units and spindle motor after installation. Failure to observe this
could lead to electric shocks.
5. Do not damage, apply forcible stress, place heavy items on the cables or get
them caught. Failure to observe this could lead to electric shocks.
6. Always insulate the power terminal connection section. Failure to observe
this could lead to electric shocks.
1. Correctly and securely perform the wiring. Failure to do so could result in
runaway of the spindle motor or injury.
2. Do not mistake the terminal connections.
Failure to observe this item could lead to ruptures or damage, etc.
3. Do not mistake the polarity ( + ,
- ). Failure to observe this item could lead to
ruptures or damage, etc.
4. Do not mistake the direction of the diodes for the surge absorption installed
on the DC relay for the general-purpose output and contactor (magnetic
contactor) control. The signal might not be output when a failure occurs.
Servodrive unit
COM
(24VDC)
Servodrive unit
COM
(24VDC)
CAUTION
Controloutput
signal
RA
Control output
signal
RA
5. Electronic devices used near the drive units may receive magnetic
obstruction. Reduce the effect of magnetic obstacles by installing a noise
filter, etc.
6. Do not install a phase advancing capacitor, surge absorber or radio noise
filter on the power line (U, V, W) of the spindle motor.
7. Do not modify this unit.
8. The half-pitch connector (CN10, etc.) on the front of the drive units have the
same shape. If the connectors are connected incorrectly, faults could occur.
Make sure that the connection is correct.
9. When grounding the motor, connect to the protective grounding terminal on
the drive units, and ground from the other protective grounding terminal.
(Use one-point grounding) Do not separately ground the connected motor
and drive unit as noise could be generated.
2 - 2
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