Mitsubishi Electronics MDS-D2, MDS-DH2 User Manual

Introduction

Thank you for selecting the Mitsubishi numerical control unit. This instruction manual describes the handling and caution points for using this AC servo/spindle.Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage. Make sure that this instruction manual is delivered to the end user. Always store this manual in a safe place. In order to confirm if all function specifications described in this manual are applicable, refer to the specifications for each CNC.

Notes on Reading This Manual

(1) Since the description of this specification manual deals with NC in general, for the specifications of individual

machine tools, refer to the manuals issued by the respe c t ive machine manufacturers. The "restrictions" an d "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, groun din g is indi ca te d a s .

The meaning of each pictorial sign is as foll ow s .

CAUTION

Prohibited

After reading this specifications and instructions manual, store it where the user can access it easily for reference.

The numeric control unit is configured of the control unit, operation board, servo drive unit, spindle drive unit, power supply, servo motor and spindle motor, etc. In this section "Precautions for safety", the following items are generically called the "motor".

• Servo motor

• Linear servo motor

• Spindle motor

• Direct-drive motor

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

• Servo drive unit

• Spindle drive unit

• Power supply unit

• Scale interface unit

• Magnetic pole detection unit

CAUTION rotated

Disassembly is

prohibited

object

CAUTION HOT Danger Electric shock

KEEP FIRE AWAY General instruction

Danger explosive

risk

Earth ground

POINT

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

For Safe Use

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. Electric shock prevention Do not open the front cover while the power is ON or during op eration. Fa ilure to observe this could le ad 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 insi de of the un its is charged, and can cause electric shoc k s. Since the high voltage is su pp lied 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. 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.

(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 magnetHandle 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.

WARNING

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 powe r 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 ru ptures 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 touc hed after installation. Touching the cooling fan during operati on 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 mach ine 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 wit h 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 dro p them or apply strong impacts to them.

CAUTION

Store and use the units under the following environment conditions.

Environment Unit Motor

Operation: 0 to 55°C (with no freezing),

Ambient temperature

Ambient humidity

Atmosphere

Altitude

Vibration/impact According to each unit or motor specification

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

(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 spin dle 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.

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

Storage: -15°C to 70°C (Note2) (with no freezing)

Operation: 80%RH or less

(with no dew condensation),

Storage: 90%RH or less

(with no dew condensation)

Operation:

1000 meters or less above sea level,

Storage:

10000 meters or less above sea level

CAUTION

)

COM (24VDC)

Servo drive unit

Control output signal

(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 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 instruction manual, always ground the cable with a cable

clamp, etc. Always separate the signals wires from the drive wire and power line. Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to the system.

COM (24VDC



(3) Trial operation and adjustment

Check and adjust each program and parameter before st arting 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 comb inations and parameters

before starting trial operation. The direct-drive motor and linear servo motor do not have a stopping device such as magnetic brakes.

Install a stopping device on the machine side. When using the linear servo motor for an unbalance axis, adjust the unbalance weight to 0 by installing an

air cylinder, etc. on the machine side. The unbalance weight disables the initial magnetic pole adjustment.

CAUTION

(4) Usage methods

In abnormal state, install an external emergency stop circuit so that the operation can be stopped and power shut off immediately.

Turn the power OFF immediately if smoke, abnormal noise or odors are generated from the unit or motor. Do not disassemble or repair this product. Never make modifications. When an alarm occurs, the machine will start suddenly if an alarm reset (RST) is carried out while an

operation start signal (ST) is being input. Always confirm that the operation signal is OFF before carrying out an alarm reset. Failure to do so could lead to accidents or injuries.

Reduce magnetic damage by installing a noise fil t er. Th e 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 br ake'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 tro ub le , use a servo mo tor 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

Shut off with the servo motor brake control output.

even by the external emergency stop signal. Always turn the main circuit power of the motor OFF

Servo motor

MBR

when an alarm occurs.

Magnetic

If an alarm occurs, remove the cause, and secure the



brake

safety before resetting the alarm.

Shut off with NC brake control PLC output.

EMG

24VDC

CAUTION

(6) Maintenance, inspection and part replacement

Always backup the programs and parameters before starting maintenance or inspections. The capacity of the electrolytic capacitor will drop over time due to self-discharging, etc. To prevent

secondary disasters due to failures, replacing this part every five years when used under a normal environment is recommended. Contact the Service Center, Service Station, Sales Office or delayer for repairs or part replacement.

Do not perform a megger test (insulation resistance measurement) during inspections. If the battery low warning is issued, immediately replace the battery. Replace the batteries while applying

the drive unit's control power. Do not short circuit, charge, overheat, incinerate or disassemble the battery. For after-purchase servicing of the built-in motor, only the servicing parts for MITSUBISHI encoder can be

supplied. For the motor body, prepare the spare parts at the machine manufacturers. For maintenance, part replacement, and services in case of failures in the built-in motor (including the

encoder), take necessary actions at the machine manufacturers. For drive unit, Mitsubishi can offer the after-purchase servicing as with the general drive unit.

(7) Disposal

Take the batteries and backlights for LCD, etc., off from the controller, drive unit and motor, and dispose of them as general industrial wastes.

Do not disassemble the unit or motor. Dispose of the battery according to local laws. Always return the secondary side (magnet side) of the linear servo motor to the Service Center or Service

Station. When incinerating optical communication cable, hydrogen fluoride gas or hydrogen chloride gas which is

corrosive and harmful may be generated. For disposal of optical communica tion 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 pr oduct when n o longer needed a ccording 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 Co rporation in Japan and/or other countries.

Other company and product names that appear in this manual are trademarks or registe red trademarks of t he 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 .

1 Installation................................................................. .... ... ... ................................................................... 1 - 1

1.1 Installation of Servo Motor.................................................... ... ... ... .... ... ............................................ 1 - 2

1.1.1 Environmental Conditions ........................................................................................................1 - 2

1.1.2 Quakeproof Level......................................................................................................................1 - 3

1.1.3 Cautions for Mounting Load (Prevention of Impact on Shaft)............................................. .... .. 1 - 4

1.1.4 Installation Direction.................................................................................................................. 1 - 4

1.1.5 Shaft Characteristics................................................................................................................. 1 - 5

1.1.6 Machine Accuracy.....................................................................................................................1 - 6

1.1.7 Coupling with the Load .............................................................................................................1 - 7

1.1.8 Oil / Water Standards................................................................................................................1 - 8

1.1.9 Installation of Servo Motor...................................................................................................... 1 - 10

1.1.10 Cable Stress ......................................................................................................................... 1 - 11

1.2 Installation of Spindle Motor............................................................................................................ 1 - 12

1.2.1 Environmental Conditions ......................................................................................................1 - 12

1.2.2 Balancing the Spindle Motor (Unit).........................................................................................1 - 13

1.2.3 Shaft Characteristics............................................................................................................... 1 - 15

1.2.4 Machine Accuracy...................................................................................................................1 - 15

1.2.5 Coupling with the Fittings........................................................................................................ 1 - 16

1.2.6 Ambient Environment.............................................................................................................. 1 - 16

1.2.7 Installation of Spindle Motor.................................................................................................... 1 - 16

1.2.8 Connection.............................................................................................................................. 1 - 17

1.2.9 Cable Stress ...........................................................................................................................1 - 18

1.3 Installation of Tool Spindle Motor.................................................................................................... 1 - 19

1.3.1 Environmental Conditions ......................................................................................................1 - 19

1.3.2 Shaft Characteristics............................................................................................................... 1 - 19

1.3.3 Installation of Tool Spindle Motor............................................................................................1 - 19

1.4 Installation of the Drive Unit............................................................................................................1 - 20

1.4.1 Environmental Conditions ......................................................................................................1 - 20

1.4.2 Installation Direction and Clearance....................................................................................... 1 - 21

1.4.3 Prevention of Entering of Foreign Matter................................................................................ 1 - 23

1.4.4 Panel Installation Hole Work Drawings (Panel Cut Drawings)................................................ 1 - 24

1.4.5 Heating Value .........................................................................................................................1 - 26

1.4.6 Heat Radiation Countermeasures...........................................................................................1 - 27

1.5 Installation of the Machine End Encoder ........................................................................................1 - 30

1.5.1 Spindle Side ABZ Pulse Output Encoder (OSE-1024 Series)................................................ 1 - 30

1.5.2 Spindle Side PLG Serial Output Encoder (TS5690, MU1606 Series) .................................... 1 - 31

1.5.3 Twin-head Magnetic Encoder (MBA405W, MBE405W Series).............................................. 1 - 37

1.6 Noise Measures................................... .... ... ... ... ... .... ... ....................................... ... ... ... ....................1 - 41

2 Wiring and Connection.......................................................................................................................... 2 - 1

2.1 Part System Connection Diagram............... ... ....................................... ... ... ... .... ............................... 2 - 3

2.2 Main Circuit Terminal Block/Control Circuit Connector..................................................................... 2 - 4

2.2.1 Names and Applications of Main Circuit Terminal Block Signals and

Control Circuit Connectors........................................................................................................ 2 - 4

2 - 5

2.2.2 Connector Pin Assignment .................................................... .... ... ... ... ... .... ... ... ... .... ... ... ... .......

2.3 NC and Drive Unit Connection....................... ... ... .... ... ... ....................................... ... ... .... ... ... .......... 2 - 16

2.4 Connecting with Optical Communication Repeater Unit.................................................................2 - 18

2.5 Motor and Encoder Connection ......................................................................................................2 - 20

2.5.1 Connection of the Servo Motor............................................................................................... 2 - 20

2.5.2 Connection of the Full-closed Loop System ........................................................................... 2 - 25

2.5.3 Connection of the Speed Command Synchronization Control System................................... 2 - 27

2.5.4 Connection of the Spindle Motor.............................................................................................2 - 29

2.5.5 Connection of Tool Spindle Motor...........................................................................................2 - 31

2.6 Connection of Power Supply....................... ....................................... ... ... ... ... ................................. 2 - 34

2.6.1 Power Supply Input Connection.............................................................................................. 2 - 34

2.6.2 Connecting the Grounding Cable............................................................................................2 - 36

2.7 Wiring of the Motor Brake ..............................................................................................................2 - 37

2.7.1 Wiring of the Motor Magnetic Brake........................................................................................2 - 37

2.7.2 Dynamic Brake Unit Wiring.....................................................................................................2 - 40

2.8 Peripheral Control Wiring................................................................................................................2 - 41

2.8.1 Input/Output Circuit Wiring......................................................................................................2 - 41

2.8.2 Specified Speed Output..........................................................................................................2 - 43

2.8.3 Spindle Coil Changeover.. ... ....................................... ... .... ... ... ... ............................................ 2 - 45

2.8.4 Proximity Switch Orientation.......................... ... .... ... ... ....................................... ... ... .... ... ........ 2 - 49

3 Safety Function ......................................................................................................................................3 - 1

3.1 Safety Function......... ....................................... ... ... ... .... ...................................... .... ... .......................3 - 2

3.1.1 Harmonized Standard.............................. ... ....................................... ... ... ... .... ... .......................3 - 2

3.1.2 Outline of Safety Function.............. ... ....................................... ... .... ... ... ... .................................3 - 2

3.2 Emergency Stop Observation...........................................................................................................3 - 3

3.2.1 SLS (Safely Limited Speed) Function......................... ... .... ... ... ... .... ...................................... ....3 - 8

3.3 STO (Safe Torque Off) Function.....................................................................................................3 - 12

4 Setup.......................................................................................................................................................4 - 1

4.1 Initial Setup ............................ ... ... .... ...................................... .... ... ... ... .... ..........................................4 - 2

4.1.1 Setting the Rotary Switch......... ... ....................................... ... ... ... .... ... .......................................4 - 2

4.1.2 Setting DIP Switch ............................................ .... ... ....................................... ... ... ... .................4 - 3

4.1.3 Transition of LED Display After Power Is Turned ON........ ...................................... .... ... ... ... ....4 - 4

4.2 Setting the Initial Parameters for the Servo Drive Unit........................................ .... ... ... ... .... .............4 - 5

4.2.1 Setting of Servo Specification Parameters ...............................................................................4 - 6

4.2.2 Setting of Machine Side Encoder............. .................................................................................4 - 8

4.2.3 Setting of Distance-coded Reference Scale ........................................................................... 4 - 14

4.2.4 Setting of Speed Command Synchronous Control .................................................................4 - 16

4.2.5 List of Standard Parameters for Each Servo Motor ................................................................ 4 - 17

4.2.6 Servo Parameters ................................... ... ....................................... ... ... ... .... ... .....................4 - 27

4.3 Setting the Initial Parameters for the Spindle Drive Unit................................................................. 4 - 62

4.3.1 Setting of Parameters Related to the Spindle......................................................................... 4 - 62

4.3.2 List of Standard Parameters for Each Spindle Motor..............................................................4 - 67

4.3.3 Spindle Specification Parameters......................... ... ....................................... ... ... ... .... ... ......4 - 102

4.3.4 Spindle Parameters .................... ... ....................................... ... ... .... ... ...................................4 - 123

5 Servo Adjustment ..................................................................................................................................5 - 1

5.1 Servo Adjustment Procedure........... ... ....................................... ... ... ... .... ... .......................................5 - 2

5.2 Gain Adjustment........................... ....................................... ... .... ... ... .................................................5 - 3

5.2.1 Current Loop Gain ....................................................................................................................5 - 3

5.2.2 Speed Loop Gain........................... ... .... ... ....................................... ... ... ... ... ..............................5 - 4

5.2.3 Position Loop Gain............ ....................................... ... ... .... ... ....................................................5 - 8

5.2.4 OMR-FF Function................................................. ... ... ... ....................................... ... .... ...........5 - 11

5.3 Characteristics Improvement ........................ ... ... ... ... .... ...................................... .... ... ... ... ...............5 - 18

5.3.1 Optimal Adjustment of Cycle Time..........................................................................................5 - 18

5.3.2 Vibration Suppression Measures................................ ....... ... ... ... .... ... ... ... ... .... ... ... ... .... ... ... .....5 - 21

5.3.3 Improving the Cutting Surface Precision.................................................................................5 - 28

5.3.4 Improvement of Characteristics during Acceleration/Deceleration .........................................5 - 31

5.3.5 Improvement of Protrusion at Quadrant Changeover.............................................................5 - 35

5.3.6 Improvement of Overshooting.................................................................................................5 - 39

5.3.7 Improvement of the Interpolation Control Path .......................................................................5 - 42

5.4 Adjustment during Full Closed Loop Control...................................................................................5 - 44

5.4.1 Outline.................. ... ....................................... ... .... ... ... ... .........................................................5 - 44

5.4.2 Speed Loop Delay Compensation ..........................................................................................5

3 Dual Feedbac

5.4.

5.5 Settings for Emergency Stop ........................ ... ... ....................................... ... ... ... .... ... .....................5 - 48

5.5.1 Deceleration Control... ... ... ... .... ... ... ....................................... ... ... .... ... .....................................5 - 48

5.5.2 Vertical Axis Drop Prevention Control.....................................................................................5 - 51

5.5.3 Vertical Axis Pull-up Control ...................................................................................................5 - 58

5.6 Protective Functions............................ ... ....................................... ... ... .... ... ... ..................................5 - 59

5.6.1 Overload Detection............................................... ... ... ... ....................................... ... .... ...........5 - 59

5.6.2 Excessive Error Detection.... .... ... ... ....................................... ... ... .... ... .....................................5 - 60

5.6.3 Collision Detection Function ...................................................................................................5 - 61

5.7 Servo Control Signal.......................................................................................................................5 - 65

5.7.1 Servo Control Input (NC to Servo)..........................................................................................5 - 65

k Control...........................................................................................................5 - 46

- 45

5.7.2 Servo Control Output (Servo to NC).......................................................................................5 - 68

6 Spindle Adjustment ............................................................................................................................... 6 - 1

6.1 Adjustment Procedures for Each Control..........................................................................................6 - 2

6.1.1 Basic Adjustments ....................................................................................................................6 - 2

6.1.2 Gain Adjustment ....................................................................................................................... 6 - 3

6.1.3 Adjusting the Acceleration/Deceleration Operation .................................................................. 6 - 7

6.1.4 Orientation Adjustment ........................................................................................................... 6 - 14

6.1.5 Synchronous Tapping Adjustment..........................................................................................6 - 18

6.1.6 High-speed Synchronous Tapping..........................................................................................6 - 21

6.1.7 Spindle C Axis Adjustment (For Lathe System)............................... ... ... .... ... ... ....... ... ... ... ... .... 6 - 22

6.1.8 Spindle Synchronization Adjustment (For Lathe System)....................................................... 6 - 27

6.1.9 Deceleration Coil Changeover Valid Function by Emergency Stop........................................6 - 29

6.1.10 High-response Acceleration/Deceleration Function.............................................................. 6 - 30

6.1.11 Spindle Cutting Withstand Level Improvement.....................................................................6 - 31

6.1.12 Spindle Motor Temperature Compensation Function........................................................... 6 - 32

6.2 Settings for Emergency Stop ..........................................................................................................6 - 37

6.2.1 Deceleration Control...............................................................................................................6 - 37

6.3 Spindle Control Signal ................................................................ ... .... ... ... ... .................................... 6 - 38

6.3.1 Spindle Control Input (NC to Spindle).....................................................................................6 - 38

6.3.2 Spindle Control Output (Spindle to NC)..................................................................................6 - 43

7 Troubleshooting..................................................................................................................................... 7 - 1

7.1 Points of Caution and Confirmation ............................................ ... .... ...................................... .........7 - 2

7.1.1 LED Display When Alarm or Warning Occurs ..........................................................................7 - 3

7.2 Protective Functions List of Units................... ... ... .... ...................................... .... ... ... ... ......................7 - 4

7.2.1 List of Alarms............................................................................................................................ 7 - 4

7.2.2 List of Warnings........................................................................................................................ 7 - 9

7.3 Troubleshooting... ... ....................................... ... ... .... ... ... ....................................... ... ... ....................7 - 10

7.3.1 Troubleshooting at Power ON................................................................................................. 7 - 10

7.3.2 Troubleshooting for Each Alarm No........................................................................................ 7 - 11

7.3.3 Troubleshooting for Each Warning No....................................................................................7 - 36

7.3.4 Parameter Numbers during Initial Parameter Error ................................................................7 - 39

7.3.5 Troubleshooting the Spindle System When There Is No Alarm or Warning...........................7 - 42

8 Maintenance ................................. .... ... ... ... .... ...................................... .... ... ... ... ...................................... 8 - 1

8.1 Periodic Inspections....................... ... ... .... ... ....................................... ... ... ... ... .... ............................... 8 - 2

8.1.1 Inspections................................................................................................................................ 8 - 2

8.1.2 Cleaning of Spindle Motor.........................................................................................................8 - 2

8.2 Service Parts........... ... .... ... ... ....................................... ... ... .... ... ... .................................................... 8 - 14

8.3 Adding and Replacing Units and Parts.... ... ....................................................................................8 - 15

8.3.1 Replacing the Drive Unit........................... ... .... ... ... ... .... ...... ... .... ... ... ... ... .... ... ... ... .... ... ... ..........8 - 15

8.3.2 Replacing the Unit Fan ...........................................................................................................8 - 16

8.3.3 Replacing the Battery..............................................................................................................8 - 19

8.3.4 Replacing the Fuse................................................................................................................. 8 - 21

9 Power Backup System...........................................................................................................................9 - 1

9.1 Deceleration and Stop Function at Power Failure ............................................................................

Spec

9.1.1

9.1.2 Wiring of Deceleration and Stop Function at Power Failure..................................................... 9 - 3

9.1.3 Setup of Deceleration and Stop Function at Power Failure...................................................... 9 - 4

9.2 Retraction function at power failure .................................................................................................. 9 - 6

9.2.1 Wiring of Retraction Function at Power Failure ........................................................................9 - 6

9.2.2 Setup of Retraction Function at Power Failure System............................................................9 - 9

9.3 Explanation of Each Part of Power Backup System ....................................................................... 9 - 11

9.3.1 How to Set Rotary Switch and Dip Switches .......................................................................... 9 - 11

9.3.2 Transition of LED Display After Power Is Turned ON............................................................. 9 - 11

9.4 Troubleshooting for Power Backup System.................................................................................... 9 - 12

9.4.1 LED Display When Alarm or Warning Occurs ........................................................................9 - 12

9.4.2 List of Power Backup Function Alarms................................................................................... 9 - 13

9.4.3 List of Power Backup Function Warnings...............................................................................9 - 13

9.4.4 Troubleshooting for Each Alarm No........................................................................................ 9 - 14

ifications of Stop Method for Deceleration and Stop Function at Power Failure System..9 - 2

9 - 2

9.4.5 Troubleshooting for Each Warning No........ ... ... .... ... ....................................... ... ... ... .... ... ........9 - 17

9.4.6 Trouble Shooting at Power ON......................... .... ... ... ... .... ... ... ....................................... ... .....9 - 18

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 STO Cable ........................................ .... ... ... ....................................... ... ... . Appendix 1 - 7

Appendix 1.2.5 Servo / Tool Spindle Encoder Cable.........................................................Appendix 1 - 8

Appendix 1.2.6 Brake Cable and Connector....................................................................Appendix 1 - 13

Appendix 1.2.7 Spindle Encoder Cable..... .... ... ... ............................................................Appendix 1 - 14

Appendix 1.2.8 Twin-head Magnetic Encoder Cable.......................................................Appendix 1 - 16

Appendix 1.3 Main Circuit Cable Connection Diagram.........................................................Appendix 1 - 17

Appendix 1.4 Connector Outline Dimension Drawings......................................................... Appendix 1 - 18

Appendix 1.4.1 Connector for Drive Unit .........................................................................Appendix 1 - 18

Appendix 1.4.2 Connector for Servo and Tool Spindle.................................................... Appendix 1 - 22

Appendix 1.4.3 Connector for Spindle.............................................................................Appendix 1 - 25

Appendix 1.4.4 Power Backup Unit Connector................................................................Appendix 1 - 27

Appendix 2 Cable and Connector Assembly.........................................................................Appendix 2 - 1

Appendix 2.1 CMV1-xPxxS-xx Plug Connector......................................................................Appendix 2 - 2

Appendix 2.2 1747464-1 Plug Connector...............................................................................Appendix 2 - 8

Appendix 2.2.1 Applicable Products ..................................................................................Appendix 2 - 8

Appendix 2.2.2 Applicable Cable.......................................................................................Appendix 2 - 8

Appendix 2.2.3 Related Documents ..................................................................................Appendix 2 - 8

Appendix 2.2.4 Assembly Procedure.................................................................................Appendix 2 - 8

Appendix 3 D/A Output Specifications for Drive Unit...........................................................Appendix 3 - 1

Appendix 3.1 D/A Output Specifications.................................................................................Appendix 3 - 2

Appendix 3.2 Output Data Settings.... ....... ... ... .... ... ... ... ... .... ... ... ... .... ... ... ... ....... ... ... ... .... ... ... ... . Appendix 3 - 3

Appendix 3.2.1 Servo Drive Unit Settings..........................................................................Appendix 3 - 3

Appendix 3.2.2 Spindle Drive Unit Settings.......................................................................Appendix 3 - 5

Appendix 3.3 Setting the Output Magnification.......................................................................Appendix 3 - 8

Appendix 3.3.1 Servo Drive Unit Settings..........................................................................Appendix 3 - 8

Appendix 3.3.2 Spindle Drive Unit Settings.......................................................................Appendix 3 - 9

Appendix 4 Compliance to EC Directives..............................................................................Appendix 4 - 1

Appendix 4.1 Compliance to EC Directives ............................................................................Appendix 4 - 2

Appendix 4.1.1 European EC Directives.............. ... ...........................................................Appendix 4 - 2

Appendix 4.1.2 Cautions for EC Directive Compliance......................................................Appendix 4 - 2

Appendix 5 EMC Installation Guidelines ............... ................................................................Appendix 5 - 1

Appendix 5.1 Introduction .......................................................................................................Appendix 5 - 2

Appendix 5.2 EMC Instructions.... ... ... .... ... ... ... ....... ... ... ... .... ... ... ... .... ... ... ... .... ... ... ... ... ....... ... ... . Appendix 5 - 2

Appendix 5.3 EMC Measures ................................................... ... ....... ... ... .... ... ... ... ... .... ... ... ... . Appendix 5 - 3

Appendix 5.4 Measures for Panel Structure ...........................................................................Appendix 5 - 3

Appendix 5.4.1 Measures for Control Panel Unit...............................................................Appendix 5 - 3

Appendix 5.4.2 Measures for Door ...................................................................................Appendix 5 - 4

Appendix 5.4.3 Measures for Operation Board Panel .......................................................Appendix 5 - 4

Appendix 5.4.4 Shielding of the Power Supply Input

Appendix 5.5 Measures for Various Cables.... ....... .................................................................Appendix 5 - 5

Appendix 5.5.1 Measures for Wiring in Panel....................................................................Appendix 5 - 5

Appendix 5.5.2 Measures for Shield Treatment.................................................................Appendix 5 - 5

Appendix 5.5.3 Servo/Spindle Motor Power Cable............................................................Appendix 5 - 6

Appendix 5.5.4 Servo/Spindle Motor Feedback Cable ......................................................Appendix 5 - 7

Appendix 5.6 EMC Countermeasure Parts.................. ...........................................................Appendix 5 - 7

Appendix 5.6.1 Shield Clamp Fitting..................................................................................Appendix 5 - 7

Appendix 5.6.2 Ferrite Core...............................................................................................Appendix 5 - 8

Appendix 5.6.3 Power Line Filter.......................................................................................Appendix 5 - 8

Appendix 5.6.4 Surge Protector.......................................................................................Appendix 5 - 15

Section

............................................Appendix 5 - 4

Appendix 6 EC Declaration of Conformity.............................................................................Appendix 6 - 1

Appendix 6.1 EC Declaration of Conformity ........................................................................... Appendix 6 - 2

Appendix 6.1.1 Low Voltage Equipment............................................................................ Appendix 6 - 2

Appendix 6.1.2 EMC Directives......................................................................................... Appendix 6 - 3

Appendix 7 Higher Harmonic Suppression Measure Guidelines........................................Appendix 7 - 1

Appendix 7.1 Higher Harmonic Suppression Measure Guidelines.........................................Appendix 7 - 2

Appendix 7.1.1 Calculating the Equivalent Capacity of the Higher Harmonic Generator.. Appendix 7 - 3

Outline for MDS-D2/DH2 Series

Specifications Manual (IB-1501124-B)

1 Introduction

1.1 Servo/Spindle Drive System Configuration

1.1.1 System Configuration

1.2 Explanation of Type

1.2.1 Servo Motor Type

1.2.2 Servo Drive Unit Type

1.2.3 Spindle Motor Type

1.2.4 Tool Spindle Motor Type

1.2.5 Spindle Drive Unit Type

1.2.6 Power Supply Unit Type

1.2.7 AC Reactor Type

2 Specifications

2.1 Servo Motor

2.1.1 Specifications List

2.1.2 Torque Characteristics

2.2 Spindle Motor

2.2.1 Specifications

2.2.2 Output Characteristics

2.3 Tool Spindle Motor

2.3.1 Specifications

2.3.2 Output Characteristics

2.4 Drive Unit

2.4.1 Installation Environment Conditions

2.4.2 Servo Drive Unit

2.4.3 Spindle Drive Unit

2.4.4 Power Supply Unit

2.4.5 Unit Outline Dimension Drawing

2.4.6 AC Reactor

2.4.7 Explanation of Each Part

3 Function Specifications

Function Specifications List

3.1 Base Control Functions

3.1.1 Full Closed Loop Control

3.1.2 Position Command Synchronous Control

3.1.3 Speed Command Synchronous Control

3.1.4 Distance-coded Reference Position Control

3.1.5 Spindle's Continuous Position Loop Control

3.1.6 Coil Changeover Control

3.1.7 Gear Changeover Control

3.1.8 Orientation Control

3.1.9 Indexing Control

3.1.10 Synchronous Tapping Control

3.1.11 Spindle Synchronous Control

3.1.12 Spindle/C Axis Control

3.1.13 Proximity Switch Orientation Control

3.1.14 Power Regeneration Control

3.1.15 Resistor Regeneration Control

3.2 Servo/Spindle Control Functions

3.2.1 Torque Limit Function

3.2.2 Variable Speed Loop Gain Control

3.2.3 Gain Changeover for Synchronous Tapp ing Control

3.2.4 Speed Loop PID Changeover Control

3.2.5 Disturbance Torque Observer

3.2.6 Smooth High Gain Control (SHG Control)

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

3.2.8 Dual Feedback Control

3.2.9 HAS Control

3.2.10 OMR-FF Control

3.2.11 Control Loop Gain Changeover

3.2.12 Spindle Output Stabilizing Control

3.2.13 High-response Spindle Acceleration/Deceleration Function

3.3 Compensation Control Function

3.3.1 Jitter Compensation

3.3.2 Notch Filter

3.3.3 Adaptive Tracking-type Notch Filter

3.3.4 Overshooting Compensation

3.3.5 Machine End Compensation Control

3.3.6 Lost Motion Compensation Type 2

3.3.7 Lost Motion Compensation Type 3

3.3.8 Lost Motion Compensation Type 4

3.3.9 Spindle Motor Temperature Compensation Function

3.4 Protection Function

3.4.1 Deceleration Control at Emergency Stop

3.4.2 Vertical Axis Drop Prevention/Pull-up Control

3.4.3 Earth Fault Detection

3.4.4 Collision Detection Function

3.4.5 SLS (Safely Limited Speed) Function

3.4.6 Fan Stop Detection

3.4.7 Open-phase Detection

3.4.8 Contactor Weld Detection

3.4.9 STO (Safe Torque Off) Function

3.4.10 Deceleration and Stop Function at Power Failure

3.4.11 Retraction Function at Power Failure

3.5 Sequence Functions

3.5.1 Contactor Control Function

3.5.2 Motor Brake Control Function

3.5.3 External Emergency Stop Function

3.5.4 Specified Speed Output

3.5.5 Quick READY ON Sequence

3.6 Diagnosis Function

3.6.1 Monitor Output Function

3.6.2 Machine Resonance Frequency Display Function

3.6.3 Machine Inertia Display Function

3.6.4 Motor Temperature Display Function

3.6.5 Load Monitor Output Function

3.6.6 Open Loop Control Function

3.6.7 Power Supply Diagnosis Display Function

4 Characteristics

4.1 Servo Motor

4.1.1 Environmental Conditions

4.1.2 Quakeproof Level

4.1.3 Shaft Characteristics

4.1.4 Machine Accuracy

4.1.5 Oil / Water Standards

4.1.6 Installation of Servo Motor

4.1.7 Overload Protection Characteristics

4.1.8 Magnetic Brake

4.1.9 Dynamic Brake Characteristics

4.2 Spindle Motor

4.2.1 Environmental Conditions

4.2.2 Shaft Characteristics

4.2.3 Machine Accuracy

4.2.4 Installation of Spindle Motor

4.3 Tool Spindle Motor

4.3.1 Environmental Conditions

4.3.2 Shaft Characteristics

4.3.3 Tool Spindle Temperature Characteristics

4.3.4 Installation of Tool Spindle Motor

4.4 Drive Unit

4.4.1 Environmental Conditions

4.4.2 Heating Value

4.4.3 Drive Unit Arrangement

5 Dedicated Options

5.1 Servo Options

5.1.1 Dynamic Brake Unit (MDS-D-DBU)

5.1.2 Battery Option (ER6V-C119B, A6BAT,

MDS-BTBOX-36)

5.1.3 Ball Screw Side Encoder (OSA105ET2A,

OSA166ET2NA)

5.1.4 Machine Side Encoder

5.1.5 Twin-head Magnetic Encoder (MBA Series)

5.2 Spindle Options

5.2.1 Spindle Side ABZ Pulse Output Encoder

(OSE-1024 Series)

5.2.2 Spindle Side PLG Serial Output Encoder

(TS5690, MU1606 Series)

5.2.3 Twin-head Magnetic Encoder (MBE Series)

5.2.4 Spindle Side Accuracy Serial Output Encod-

er (ERM280, MPCI Series)(Other Manufacturer's

Product)

5.2.5 Machine Side Encoder

5.3 Encoder Interface Unit

5.3.1 Serial Output Interface Unit for ABZ Analog

Encoder MDS-B-HR

5.3.2 Serial Signal Division Unit MDS-B-SD

5.3.3 Pulse Output Interface Unit for ABZ Analog

Encoder IBV Series (Other Manufacturer's Prod-

uct)

5.3.4 Serial Output Interface Unit for ABZ Analog

Encoder EIB192M (Other Manufacturer's Prod-

uct)

5.3.5 Serial Output Interface Unit for ABZ Analog

Encoder EIB392M (Other Manufacturer's Prod-

uct)

5.3.6 Serial Output Interface Unit for ABZ Analog

Encoder ADB-20J Series (Other Manufacture r 's

Product)

5.4 Drive Unit Option

5.4.1 Optical Communication Repeater Unit

(FCU7-EX022)

5.4.2 DC Connection Bar

5.4.3 Side Protection Cover

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

5.4.5 Regenerative Resistors for Power Backup

Unit (R-UNIT-6,7)

5.4.6 Capacitor Unit for Power Backup Unit

(MDS-D/DH-CU)

5.5 Cables and Connectors

5.5.1 Cable Connection Diagram

5.5.2 List of Cables and Connectors

5.5.3 Optical Communication Cable Specifications

6 Specifications of Peripheral Devices

6.1 Selection of Wire

6.1.1 Example of Wires by Unit

6.2 Selection of Circuit Protector and Contactor

6.2.1 Selection of Circuit Protector

6.2.2 Selection of Contactor

6.3 Selection of Earth Leakage Breaker

6.4 Branch-circuit Protection (for Control Power Supply)

6.4.1 Circuit Protector

6.4.2 Fuse Protection

6.5 Noise Filter

6.6 Surge Absorber

6.7 Relay

6.8 Selection of Link Bar

6.8.1 Wire Size for L11 and L21 Link Bar

6.8.2 Wire Size for L+ and L- Link Bar

7 Selection

7.1 Selection of the Servo Motor

7.1.1 Outline

7.1.2 Selection of Servo Motor Capacity

7.1.3 Motor Shaft Conversion Load Torque

7.1.4 Expressions for Load Inertia Calculation

7.2 Selection of the Spindle Motor

7.3 Selection of the Power Supply Unit

7.3.1 Calculation of Spindle Output

7.3.2 Calculation of Servo Motor Output

7.3.3 Selection of the Power Supply Unit

7.3.4 Required Capacity of Power Supply

7.3.5 Example for Power Supply Unit and Power Supply Facility Capacity

7.3.6 Selection of Regenerative Resistor for Power Backup Unit (R-UNIT-6,7) and Capacitor Unit for Power Backup Unit (MDS-D/DH-CU)

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 STO Cable Appendix 1.2.5 Servo / Tool Spindle Encoder Cable Appendix 1.2.6 Brake Cable and Connector Appendix 1.2.7 Spindle Encoder Cable Appendix 1.2.8 Twin-head Magnetic Encoder Ca-

ble 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 1.4.4 Power Backup Unit Connector

Appendix 2 Restrictions for Lithium Batteries

Appendix 2.1 Restriction for Packing

Appendix 2.1.1 Target Products Appendix 2.1.2 Handling by User

Appendix 2.1.3 Reference Appendix 2.2 Products Information Data Shee t (ER Battery) Appendix 2.3 Issuing Domestic Law of the United States for Primary Lithium Battery Transportation

Appendix 2.3.1 Outline of Regulation

Appendix 2.3.2 Target Products

Appendix 2.3.3 Handling by User

Appendix 2.3.4 Reference Appendix 2.4 Restriction Related to EU Battery Directive

Appendix 2.4.1 Important Notes

Appendix 2.4.2 Information for End-user

Appendix 3 Compliance to EC Directives

Appendix 3.1 Compliance to EC Directives

Appendix 3.1.1 European EC Directives

Appendix 3.1.2 Cautions for EC Directive Compli-

ance

Appendix 4 EMC Installation Guidelines

Appendix 4.1 Introduction Appendix 4.2 EMC Instructions Appendix 4.3 EMC Measures Appendix 4.4 Measures for Panel Structure

Appendix 4.4.1 Measures for Control Panel Unit

Appendix 4.4.2 Measures for Door

Appendix 4.4.3 Measures for Operation Board

Panel

Appendix 4.4.4 Shielding of the Power Supply In-

put Section Appendix 4.5 Measures for Various Cables

Appendix 4.5.1 Measures for Wiring in Panel

Appendix 4.5.2 Measures for Shield Treatment

Appendix 4.5.3 Servo/Spindle Motor Power Cable

Appendix 4.5.4 Servo/Spindle Motor Feedback

Cable Appendix 4.6 EMC Countermeasure Parts

Appendix 4.6.1 Shield Clamp Fitting

Appendix 4.6.2 Ferrite Core

Appendix 4.6.3 Power Line Filter

Appendix 4.6.4 Surge Protector

Appendix 5 EC Declaration of Conformity

Appendix 5.1 EC Declaration of Conformity

Appendix 5.1.1 Low Voltage Equipment

Appendix 5.1.2 EMC Directives

Appendix 6 Instruction Manual for Compliance with UL/c-UL Standard

Appendix 6.1 Operation Surrounding Air Ambient Temperature Appendix 6.2 Notes for AC Servo/Spindle System

Appendix 6.2.1 Warning Appendix 6.2.2 Installation Appendix 6.2.3 Short-circuit Ratings (SCCR) Appendix 6.2.4 Over-temperature Protection for Motor Appendix 6.2.5 Peripheral Devices Appendix 6.2.6 Field Wiring Reference Tab le for Input and Output (Power Wiring) Appendix 6.2.7 Motor Over Load Protection Appendix 6.2.8 Flange of Servo Motor Appendix 6.2.9 Spindle Drive/Motor Combinations Appendix 6.2.10 Servo Drive/Motor Combinations

Appendix 6.3 AC Servo/Spindle System Connection

Appendix 6.3.1 MDS-D, D2/DH, DH2/DM, DM2Vx/SP Series Appendix 6.3.2 MDS-D/DH-CV, D/D2-Vx/SPx, DH/DH2-Vx/SPx, DM/DM2-V3 Series with MDSD/DH-PFU Appendix 6.3.3 MDS-D2/DH2-CV, D/D2-Vx/SPx, DH/DH2-Vx/SPx, DM/DM2-V3 Series with MDSD/DH-PFU Appendix 6.3.4 MDS-D-SVJ3/SPJ3/MDS-DJ Series Appendix 6.3.5 MDS-DM, DM2-SPV Series

Appendix 7 Compliance with Restrictions in China

Appendix 7.1 Compliance with China CCC Certification System

Appendix 7.1.1 Outline of China CCC Certification System Appendix 7.1.2 First Catalogue of Products Subject to Compulsory Product Certification Appendix 7.1.3 Precautions for Shipping Products Appendix 7.1.4 Application for Exemption Appendix 7.1.5 Mitsubishi NC Product Subject to/

Not Subject to CCC Certification Appendix 7.2 Response to the China Environment Restrictions

Appendix 7.2.1 Outline of the Law on the Pollution

Prevention and Control for Electronic Information Products Appendix 7.2.2 Response to the Drive Product for Mitsubishi NC Appendix 7.2.3 Indication Based on "Pollution Suppression Marking Request for Electronic Information Product"

For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1501142(ENG)) .

+ 560 hidden pages

Mitsubishi Electronics MDS-D2, MDS-DH2 User Manual

Introduction

Precautions for Safety

Treatment of waste

Disposal

Trademarks

Contents