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.
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 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.
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 |
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handling is mistaken. |
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WARNING |
When a dangerous situation, or fatal or serious injuries may |
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occur if handling is mistaken. |
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CAUTION |
When a dangerous situation may occur if handling is mistaken |
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leading to medium or minor injuries, or physical damage. |
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Note that some items described as |
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CAUTION |
may lead to major results depending on |
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the situation. In any case, important information that must be observed is described.
The signs indicating prohibited and mandatory matters are explained below.
Indicates a prohibited matter. For example, "Fire Prohibited" is indicated as .
Indicates a mandatory matter. For example, grounding is indicated as .
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, servomotor and spindle motor, etc.
In this section "Precautions for safety", the following items are generically called the "motor".
•Servomotor
•Linear servomotor
•Spindle motor
In this section "Precautions for safety", the following items are generically called the "unit".
•Servo drive unit
•Spindle drive unit
•Power supply unit
•Scale interface unit
•Magnetic pole detection unit
POINT |
Important matters that should be understood for operation of this machine |
are indicated as a POINT in this manual. |
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WARNING
1. Electric shock prevention
Do not open the front cover while the power is ON or during operation. Failure to observe this could lead to electric shocks.
Do not operate the unit with the front cover removed. The high voltage terminals and charged sections will be exposed, and can cause electric shocks.
Do not remove the front cover and connector even when the power is OFF unless carrying out wiring work or periodic inspections. The inside of the units is charged, and can cause electric shocks.
Since the high voltage is supplied to the main circuit connector while the power is ON or during operation, do not touch the main circuit connector with an adjustment screwdriver or the pen tip. Failure to observe this could lead to electric shocks.
Wait at least 15 minutes after turning the power OFF, confirm that the CHARGE lamp has gone out, and check the voltage between P and N terminals with a tester, etc., before starting wiring, maintenance or inspections. Failure to observe this could lead to electric shocks.
Ground the unit and motor following the standards set forth by each country.
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.
2. Injury prevention
The linear servomotor uses a powerful magnet on the secondary side, and could adversely affect pacemakers, etc.
During installation and operation of the machine, do not place portable items that could malfunction or fail due to the influence of the linear servomotor's magnetic force.
Take special care not to pinch fingers, etc., when installing (and unpacking) the linear servomotor.
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.)
CAUTION
1. Fire prevention
Install the units, motors and regenerative resistor on non-combustible material. Direct installation on combustible material or near combustible materials could lead to fires.
Always install a circuit protector and contactor on the servo drive unit power input as explained in this manual. Refer to this manual and select the correct circuit protector and contactor. An incorrect selection could result in fire.
Shut off the power on the unit side if a fault occurs in the units. Fires could be caused if a large current continues to flow.
When using a regenerative resistor, provide a sequence that shuts off the power with the regenerative resistor's error signal. The regenerative resistor could abnormally overheat and cause a fire due to a fault in the regenerative transistor, etc.
The battery unit could heat up, ignite or rupture if submerged in water, or if the poles are incorrectly wired.
Cut off the main circuit power with the contactor when an alarm or emergency stop occurs.
2. Injury prevention
Do not apply a voltage other than that specified in this manual, on each terminal. Failure to observe this item could lead to ruptures or damage, etc.
Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or damage, etc.
Do not mistake the polarity ( + , – ). Failure to observe this item could lead to ruptures or damage, etc.
Do not touch the radiation fin on unit back face, regenerative resistor or motor, etc., or place parts (cables, etc.) while the power is turned ON or immediately after turning the power OFF. These parts may reach high temperatures, and can cause burns or part damage.
Structure the cooling fan on the unit back face, etc., etc so that it cannot be touched after installation. Touching the cooling fan during operation could lead to injuries.
CAUTION
3. Various precautions
Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and electric shocks, etc.
(1) Transportation and installation
Correctly transport the product according to its weight.
Use the motor's hanging bolts only when transporting the motor. Do not transport the machine when the motor is installed on the machine.
Do not stack the products above the tolerable number.
Follow this manual and install the unit or motor in a place where the weight can be borne.
Do not get on top of or place heavy objects on the unit.
Do not hold the cables, axis or detector when transporting the motor.
Do not hold the connected wires or cables when transporting the units.
Do not hold the front cover when transporting the unit. The unit could drop.
Always observe the installation directions of the units or motors.
Secure the specified distance between the units and control panel, or between the servo drive unit and other devices.
Do not install or run a unit or motor that is damaged or missing parts.
Do not block the intake or exhaust ports of the motor provided with a cooling fan.
Do not let foreign objects enter the units or motors. In particular, if conductive objects such as screws or metal chips, etc., or combustible materials such as oil enter, rupture or breakage could occur.
The units and motors are precision devices, so do not drop them or apply strong impacts to them.
CAUTION
Store and use the units under the following environment conditions.
Environment |
Unit |
Motor |
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Ambient |
Operation: 0 to 55°C (with no freezing), |
Operation: 0 to 40°C (with no freezing), |
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Storage / Transportation: -15°C to 70°C |
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temperature |
Storage: -15°C to 70°C (Note 2) (with no freezing) |
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(with no freezing) |
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Operation: 90%RH or less |
Operation: 80%RH or less |
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Ambient |
(with no dew condensation) |
(with no dew condensation), |
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humidity |
Storage / Transportation: 90%RH or less |
Storage: 90%RH or less |
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(with no dew condensation) |
(with no dew condensation) |
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Atmosphere |
Indoors (no direct sunlight) |
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With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles |
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Operation/Storage: 1000 meters or less above |
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Altitude |
sea level, |
Operation: 1000 meters or less above sea level, |
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Transportation: 13000 meters or less above sea |
Storage: 10000 meters or less above sea level |
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level |
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Vibration/impact |
According to each unit or motor specification |
(Note 1) For details, confirm each unit or motor specifications in addition. (Note 2) -15°C to 55°C for linear servomotor.
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.
Always use a nonmagnetic tool (explosion-proof beryllium copper alloy safety tool: NGK Insulators, etc.) when installing the linear servomotor.
Always provide a mechanical stopper on the end of the linear servomotor'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.
CAUTION
(2) Wiring
Correctly and securely perform the wiring. Failure to do so could lead to abnormal operation of the motor.
Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of the drive unit.
Correctly connect the output side of the drive unit (terminals U, V, W). Failure to do so could lead to abnormal operation of the motor.
When using a power regenerative power supply unit, always install an AC reactor for each power supply unit.
In the main circuit power supply side of the unit, always install an appropriate circuit protector or contactor for each unit. Circuit protector or contactor cannot be shared by several units.
Always connect the motor to the drive unit's output terminals (U, V, W).
Do not directly connect a commercial power supply to the servomotor. 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.
Servodrive unit
COM |
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(24VDC) |
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Control output |
RA |
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signal |
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Servodrive unit |
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COM |
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(24VDC) |
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Control output |
RA |
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signal |
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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.
CAUTION
(3) Trial operation and adjustment
Check and adjust each program and parameter before starting operation. Failure to do so could lead to unforeseen operation of the machine.
Do not make remarkable adjustments and changes of parameter as the operation could become unstable.
The usable motor and unit combination is predetermined. Always check the models before starting trial operation.
If the axis is unbalanced due to gravity, etc., balance the axis using a counterbalance, etc.
The linear servomotor does not have a stopping device such as magnetic brakes. Install a stopping device on the machine side.
(4) Usage methods
In abnormal state, install an external emergency stop circuit so that the operation can be stopped and power shut off immediately.
Turn the power OFF immediately if smoke, abnormal noise or odors are generated from the unit or motor.
Do not disassemble or repair this product. Never make modifications.
When an alarm occurs, the machine will start suddenly if an alarm reset (RST) is carried out while an operation start signal (ST) is being input. Always confirm that the operation signal is OFF before carrying out an alarm reset. Failure to do so could lead to accidents or injuries.
Reduce magnetic damage by installing a noise filter. The electronic devices used near the unit could be affected by magnetic noise. Install a line noise filter, etc., if there is a risk of magnetic noise.
Use the unit, motor and regenerative resistor with the designated combination. Failure to do so could lead to fires or trouble.
The brake (magnetic brake) of the servomotor 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 servomotor are coupled via a timing belt, etc.) or the magnetic brake’s failure. Install a stop device to ensure safety on the machine side.
After changing the programs/parameters or after maintenance and inspection, always test the operation before starting actual operation.
Do not enter the movable range of the machine during automatic operation. Never place body parts near or touch the spindle during rotation.
Follow the power supply specification conditions given in each specification for the power (input voltage, input frequency, tolerable sudden power failure time, etc.).
Set all bits to "0" if they are indicated as not used or empty in the explanation on the bits.
Do not use the dynamic brakes except during the emergency stop. Continued use of the dynamic brakes could result in brake damage.
If a circuit protector for the main circuit power supply is shared by several units, the circuit protector may not activate when a short-circuit fault occurs in a small capacity unit. This is dangerous, so never share the circuit protector.
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.
Shut off with the servomotor brake control output.
Servomotor MBR
Magnetic brake
Shut off with NC brake control PLC output.
EMG
24VDC
Always turn the input power OFF when an alarm occurs.
If an alarm occurs, remove the cause, and secure the safety before resetting the alarm.
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 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, back up 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.
The heat radiating fin used in some units contains substitute Freon as the refrigerant.Take care not to damage the heat radiating fin during maintenance and replacement work.
(7) Disposal
Do not dispose of this type of unit as general industrial waste. Always contact the Service Center, Service Station, Sales Office or delayer for repairs or part replacement.
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 servomotor to the Service Center or Service Station.
When incinerating optical communication cable, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated. For disposal of optical communication cable, request for specialized industrial waste disposal services that has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas.
CAUTION
(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"
(1)Recycle as much of this product as possible when finished with use.
(2)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"
(1)Mitsubishi recommends recycling and selling the product when no longer needed according to item (1) above. The user should make an effort to reduce waste in this manner.
(2)When disposing a product that cannot be resold, it shall be treated as a waste product.
(3)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.
(4)Batteries correspond to "primary batteries", and must be disposed of according to local disposal laws.
1. Introduction |
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1-1 Servo/spindle drive system configuration............................................................................ |
1-2 |
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1-1-1 |
System configuration ..................................................................................................... |
1-2 |
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1-2 |
Explanation of type .............................................................................................................. |
1-3 |
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1-2-1 |
Servomotor type ............................................................................................................ |
1-3 |
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1-2-2 Servo drive unit type...................................................................................................... |
1-5 |
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1-2-3 |
Spindle motor type......................................................................................................... |
1-6 |
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1-2-4 Spindle drive unit type ................................................................................................... |
1-7 |
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1-2-5 Power supply unit type .................................................................................................. |
1-8 |
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1-2-6 |
AC reactor type.............................................................................................................. |
1-9 |
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2. Specifications |
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2-1 |
Servomotor........................................................................................................................... |
2-2 |
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2-1-1 |
Specifications list ........................................................................................................... |
2-2 |
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2-1-2 |
Torque characteristics ................................................................................................... |
2-5 |
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2-2 |
Spindle motor....................................................................................................................... |
2-8 |
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2-2-1 Specifications................................................................................................................. |
2-8 |
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2-2-2 |
Output characteristics.................................................................................................. |
2-12 |
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2-3 |
Drive unit ............................................................................................................................ |
2-16 |
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2-3-1 |
Installation environment conditions ............................................................................. |
2-16 |
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2-3-2 |
Servo drive unit............................................................................................................ |
2-16 |
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2-3-3 |
Spindle drive unit ......................................................................................................... |
2-17 |
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2-3-4 |
Power supply unit ........................................................................................................ |
2-17 |
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2-3-5 |
AC reactor.................................................................................................................... |
2-18 |
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2-3-6 D/A output specifications for servo drive unit.............................................................. |
2-19 |
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2-3-7 D/A output specifications for spindle drive unit ........................................................... |
2-22 |
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2-3-8 Explanation of each part.............................................................................................. |
2-25 |
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3. Characteristics |
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3-1 |
Servomotor........................................................................................................................... |
3-2 |
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3-1-1 |
Environmental conditions .............................................................................................. |
3-2 |
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3-1-2 |
Quakeproof level............................................................................................................ |
3-2 |
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3-1-3 |
Shaft characteristics ...................................................................................................... |
3-3 |
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3-1-4 Oil / water standards...................................................................................................... |
3-4 |
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3-1-5 |
Magnetic brake .............................................................................................................. |
3-5 |
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3-1-6 |
Dynamic brake characteristics ...................................................................................... |
3-8 |
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3-2 |
Spindle motor..................................................................................................................... |
3-10 |
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3-2-1 |
Environmental conditions ............................................................................................ |
3-10 |
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3-2-2 |
Shaft characteristics .................................................................................................... |
3-10 |
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3-3 |
Drive unit characteristics.................................................................................................... |
3-11 |
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3-3-1 |
Environmental conditions ............................................................................................ |
3-11 |
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3-3-2 |
Heating value............................................................................................................... |
3-12 |
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3-3-3 |
Overload protection characteristics............................................................................. |
3-13 |
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3-3-4 |
Drive unti arrangement ................................................................................................ |
3-21 |
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4. Dedicated options |
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4-1 |
Servo options ....................................................................................................................... |
4-2 |
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4-1-1 Dynamic brake unit (MDS-D-DBU) (mandatory selection for large capacity) .............. |
4-5 |
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4-1-2 Battery option (MDS-A-BT, FCU6-BTBOX-36, ER6V-C119B, A6BAT) ....................... |
4-7 |
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4-1-3 Ball screw side detector (OSA105-ET2, OSA166-ET2) ............................................. |
4-15 |
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4-1-4 |
Machine side detector ................................................................................................. |
4-17 |
4-2 |
Spindle options .................................................................................................................. |
4-21 |
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4-2-1 Spindle side detector (OSE-1024-3-15-68, OSE-1024-3-15-68-8) ............................ |
4-22 |
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4-2-2 C axis detector (HEIDENHAIN ERM280) ................................................................... |
4-24 |
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4-3 |
Detector interface unit........................................................................................................ |
4-26 |
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4-3-1 MDS-B-HR................................................................................................................... |
4-26 |
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4-3-2 APE391M..................................................................................................................... |
4-28 |
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4-3-3 MJ831 .......................................................................................................................... |
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4-29 |
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4-3-4 MDS-B-SD (Signal divided unit) .................................................................................. |
4-30 |
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4-4 |
Drive unit option ................................................................................................................. |
4-32 |
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4-4-1 |
DC connection bar....................................................................................................... |
4-32 |
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4-4-2 Side face protection cover........................................................................................... |
4-33 |
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4-5 |
Cables and connectors...................................................................................................... |
4-34 |
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4-5-1 |
Cable connection diagram........................................................................................... |
4-34 |
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4-5-2 List of cables and connectors...................................................................................... |
4-35 |
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4-5-3 Optical communication cable specifications ............................................................... |
4-40 |
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5. Selection of peripheral devices |
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5-1 |
Selection of wire................................................................................................................... |
5-2 |
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5-1-1 Example of wires by unit................................................................................................ |
5-2 |
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5-2 Selection of circuit protector and contactor ......................................................................... |
5-5 |
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5-2-1 Selection of circuit protector .......................................................................................... |
5-5 |
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5-2-2 |
Selection of contactor .................................................................................................... |
5-6 |
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5-3 Selection of earth leakage breaker...................................................................................... |
5-7 |
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5-4 Branch-circuit protection (for control power supply)............................................................ |
5-8 |
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5-4-1 |
Circuit protection............................................................................................................ |
5-8 |
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5-4-2 |
Fuse protection .............................................................................................................. |
5-8 |
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5-5 |
Noise filter ............................................................................................................................ |
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5-9 |
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5-6 |
Surge absorber .................................................................................................................. |
5-10 |
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5-7 |
Relay .................................................................................................................................. |
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5-11 |
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Appendix 1. Outline dimension drawings |
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Appendix 1-1 Outline dimension drawings of servomotor....................................................... |
A1-2 |
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Appendix 1-1-1 |
HF-H motor.................................................................................................. |
A1-2 |
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Appendix 1-1-2 |
HP-H motor................................................................................................ |
A1-11 |
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Appendix 1-1-3 |
HC-H motor ............................................................................................... |
A1-16 |
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Appendix 1-2 Outline dimension drawings of spindle motor ................................................. |
A1-17 |
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Appendix 1-3 Outline dimension drawings of unit ................................................................. |
A1-29 |
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Appendix 1-3-1 |
Servo drive unit.......................................................................................... |
A1-29 |
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Appendix 1-3-2 |
Spindle drive unit....................................................................................... |
A1-36 |
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Appendix 1-3-3 Power supply unit ...................................................................................... |
A1-42 |
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Appendix 1-3-4 Installation position of drive unit cooling fan ............................................. |
A1-45 |
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Appendix 1-3-5 |
AC reactor ................................................................................................. |
A1-47 |
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Appendix 2. Cable and Connector Specifications |
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Appendix 2-1 Selection of cable .............................................................................................. |
A2-2 |
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Appendix 2-1-1 Cable wire and assembly ............................................................................ |
A2-2 |
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Appendix 2-2 Cable connection diagram................................................................................. |
A2-4 |
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Appendix 2-3 Main circuit cable connection diagram............................................................ |
A2-14 |
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Appendix 2-4 Connector outline dimension drawings ........................................................... |
A2-15 |
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Appendix 2-5 Cable and connector assembly....................................................................... |
A2-27 |
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Appendix 2-5-1 CM10-SP**S plug connector..................................................................... |
A2-27 |
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Appendix 2-5-2 CM10-AP**S Angle Plug Connector ......................................................... |
A2-34 |
Appendix 3. Selection |
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Appendix 3-1 Selection of the servomotor series.................................................................... |
A3-2 |
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Appendix 3-1-1 Motor series characteristics ........................................................................ |
A3-2 |
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Appendix 3-1-2 |
Servomotor precision .................................................................................. |
A3-2 |
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Appendix 3-1-3 Selection of servomotor capacity ................................................................ |
A3-3 |
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Appendix 3-1-4 Motor shaft conversion load torque............................................................. |
A3-6 |
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Appendix 3-1-5 Expressions for load inertia calculation....................................................... |
A3-7 |
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Appendix 3-2 Selection of the power supply unit .................................................................... |
A3-8 |
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Appendix 3-2-1 Calculation of spindle output ....................................................................... |
A3-8 |
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Appendix 3-2-2 Calculation of servo motor output ............................................................... |
A3-9 |
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Appendix 3-2-3 Selection of the power supply unit ............................................................ |
A3-10 |
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Appendix 3-2-4 Required capacity of power supply........................................................... |
A3-11 |
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Appendix 3-2-5 Example for power supply unit and power supply facility capacity........... |
A3-12 |
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Appendix 4. Transportation Restrictions for Lithium Batteries |
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Appendix 4-1 Restriction for packing....................................................................................... |
A4-2 |
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Appendix 4-1-1 |
Target products ........................................................................................... |
A4-2 |
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Appendix 4-1-2 |
Handling by user ......................................................................................... |
A4-3 |
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Appendix 4-1-3 |
Reference .................................................................................................... |
A4-4 |
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Appendix 4-2 Issuing domestic law of the United State for primary lithium battery |
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transportation .................................................................................................... |
A4-5 |
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Appendix 4-2-1 Outline of regulation .................................................................................... |
A4-5 |
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Appendix 4-2-2 |
Target products ........................................................................................... |
A4-5 |
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Appendix 4-2-3 |
Handling by user ......................................................................................... |
A4-5 |
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Appendix 4-2-4 |
Reference .................................................................................................... |
A4-5 |
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Appendix 4-3 Example of hazardous goods declaration list ................................................... |
A4-6 |
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Appendix 5. Compliance to EC Directives |
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Appendix 5-1 Compliance to EC Directives ............................................................................ |
A5-2 |
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Appendix 5-1-1 European EC Directives.............................................................................. |
A5-2 |
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Appendix 5-1-2 Cautions for EC Directive compliance ........................................................ |
A5-2 |
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Appendix 6. EMC Installation Guidelines |
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Appendix 6-1 |
Introduction ........................................................................................................ |
A6-2 |
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Appendix 6-2 |
EMC instructions ............................................................................................... |
A6-2 |
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Appendix 6-3 |
EMC measures.................................................................................................. |
A6-3 |
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Appendix 6-4 Measures for panel structure............................................................................. |
A6-3 |
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Appendix 6-4-1 Measures for control panel unit................................................................... |
A6-3 |
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Appendix 6-4-2 Measures for door ....................................................................................... |
A6-4 |
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Appendix 6-4-3 Measures for operation board panel........................................................... |
A6-4 |
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Appendix 6-4-4 Shielding of the power supply input section................................................ |
A6-4 |
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Appendix 6-5 Measures for various cables ............................................................................. |
A6-5 |
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Appendix 6-5-1 Measures for wiring in panel ....................................................................... |
A6-5 |
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Appendix 6-5-2 Measures for shield treatment..................................................................... |
A6-5 |
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Appendix 6-5-3 Servo/spindle motor power cable................................................................ |
A6-6 |
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Appendix 6-5-4 Servo/spindle motor feedback cable........................................................... |
A6-7 |
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Appendix 6-6 EMC countermeasure parts .............................................................................. |
A6-8 |
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Appendix 6-6-1 Shield clamp fitting ...................................................................................... |
A6-8 |
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Appendix 6-6-2 |
Ferrite core .................................................................................................. |
A6-9 |
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Appendix 6-6-3 |
Power line filter .......................................................................................... |
A6-10 |
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Appendix 6-6-4 |
Surge protector.......................................................................................... |
A6-17 |
Appendix 7. EC Declaration of conformity |
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Appendix 7-1 Compliance to EC Directives ............................................................................ |
A7-2 |
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Appendix 7-1-1 Low voltage equipment ............................................................................... |
A7-2 |
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Appendix 7-1-2 EMC Directive (Electromagnetic compatibility)......................................... |
A7-11 |
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Appendix 8. Instruction Manual for Compliance with UL/c-UL Standard |
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Appendix 8.1 Operation surrounding air ambient temperature............................................... |
A8-2 |
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Appendix 8.2 Notes for AC servo/spindle system ................................................................... |
A8-2 |
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Appendix 8.2.1 |
General Precaution...................................................................................... |
A8-2 |
Appendix 8.2.2 |
Installation.................................................................................................... |
A8-2 |
Appendix 8.2.3 |
Short-circuit ratings...................................................................................... |
A8-2 |
Appendix 8.2.4 Capacitor discharge time............................................................................. |
A8-2 |
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Appendix 8.2.5 |
Peripheral devices ....................................................................................... |
A8-3 |
Appendix 8.2.6 Field Wiring Reference Table for Input and Output .................................... |
A8-3 |
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Appendix 8.2.7 Motor Over Load Protection ........................................................................ |
A8-4 |
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Appendix 8.2.8 Flange of servo motor.................................................................................. |
A8-4 |
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Appendix 8.2.9 Spindle Drive / Motor Combinations............................................................ |
A8-5 |
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Appendix 8.3 AC Servo/Spindle System Connection.............................................................. |
A8-6 |
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Appendix 8.3.1 |
MDS-D/DH-V/SP Series .............................................................................. |
A8-6 |
Appendix 8.3.2 |
MDS-D-SVJ3/SPJ3 Series .......................................................................... |
A8-6 |
Appendix 9. Compliance with China Compulsory Product Certification (CCC Certification) |
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System |
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Appendix 9-1 Outline of China Compulsory Product Certification System ............................. |
A9-2 |
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Appendix 9-2 First Catalogue of Products subject to Compulsory Product Certification........ |
A9-2 |
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Appendix 9-3 Precautions for Shipping Products.................................................................... |
A9-3 |
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Appendix 9-4 Application for Exemption.................................................................................. |
A9-4 |
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Appendix 9-5 Mitsubishi NC Product Subject to/Not Subject to CCC Certification ................ |
A9-5 |
1-1 Servo/spindle drive system configuration .......................................................................................... |
1-2 |
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1-1-1 |
System configuration................................................................................................................... |
1-2 |
1-2 Explanation of type............................................................................................................................. |
1-3 |
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1-2-1 |
Servomotor type .......................................................................................................................... |
1-3 |
1-2-2 |
Servo drive unit type.................................................................................................................... |
1-5 |
1-2-3 |
Spindle motor type ...................................................................................................................... |
1-6 |
1-2-4 |
Spindle drive unit type ................................................................................................................. |
1-7 |
1-2-5 |
Power supply unit type ................................................................................................................ |
1-8 |
1-2-6 |
AC reactor type ........................................................................................................................... |
1-9 |
1 - 1
1. Introduction
1-axis servo drive unit |
2-axis servo drive unit |
Spindle drive unit |
Power supply unit |
(MDS-DH-V1) |
(MDS-DH-V2) |
(MDS-DH-SP) |
(MDS-DH-CV) |
From NC |
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L+ |
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L- |
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Circuit protector |
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or |
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Protection fuse |
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(Note) |
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To 2nd and 3rd |
Prepared by |
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user |
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axis servo |
Contactor |
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(Note) |
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Prepared by |
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user |
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AC reactor |
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(DH-AL) |
Servomotor |
Spindle motor |
Circuit protector |
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(Note) |
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Prepared by |
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user |
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(for full closed control) |
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(Note) |
Prepared by user |
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Cell battery |
Spindle side detector |
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built in drive unit |
3-phase 400VAC power supply |
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(ER6V-C119B) |
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In addition to the cell battery in the above, the external battery unit (MDS-A-BT) can be also used.
1 - 2
1. Introduction
MITSUBISHI
Motor type |
AC SERVO MOTOR |
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Detector type |
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HF-HxxxBS |
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ROTARY DETECTOR OSA166S5 |
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INPUT 3AC 456 V |
xxx A |
SER. X X X X X X X X X X X |
DATE 0401 |
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Rated output |
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Serial No. |
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OUTPUT x.xkW IEC34-1 1994 |
A2 |
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MITSUBISHI ELECTRIC CORP. |
D |
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Rated rotation speed |
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3000r/min IP65 CI.F xx kg |
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MADE IN JAPAN |
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Serial No. |
SER.No.xxxxxxxx* DATE 04-1 |
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MITSUBISHI ELECTRIC |
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Detector rating nameplate |
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MADE IN JAPAN |
00395298-01 |
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Motor rating nameplate
(1) HF-H Series
HF-H |
(1) |
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(2) |
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(3) |
- |
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(4) |
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(4) Detector |
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Symbol |
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Detection |
Resolution |
Detector type |
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method |
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A51 |
Absolute position |
1,000,000 p/rev |
OSA105S5 |
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A74 |
16,000,000 p/rev |
OSA166S5 |
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(3) Shaft end structure
Symbol |
Shaft end |
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structure |
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SStraight
TTaper
(Note)
"Taper" is available for the motor whose flange size is □90mm or □130mm.
(2) Magnetic brakes
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Magnetic brakes |
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None |
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None |
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B |
With magnetic brakes |
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(1) Rated output • Maximum rotation speed |
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Maximum rotation |
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Symbol |
Rated output |
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Flange size |
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speed |
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75 |
0.75 kW |
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5000 r/min |
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□90 mm |
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105 |
1.0 kW |
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5000 r/min |
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□90 mm |
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54 |
0.5 kW |
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4000 r/min |
□130 mm |
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104 |
1.0 kW |
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4000 r/min |
□130 mm |
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154 |
1.5 kW |
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4000 r/min |
□130 mm |
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204 |
2.0 kW |
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4000 r/min |
□176 mm |
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354 |
3.5 kW |
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4000 r/min |
□176 mm |
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453 |
4.5 kW |
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3500 r/min |
□176 mm |
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703 |
7.0 kW |
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3000 r/min |
□176 mm |
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903 |
9.0 kW |
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3000 r/min |
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□204 mm |
1 - 3
1. Introduction
(2) HP-H Series
HP-H (1) (2)
(3) - (4)
(4) Detector
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Symbol |
Detection |
Resolution |
Detector type |
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method |
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A51 |
Absolute position |
1,000,000 p/rev |
OSA105S5 |
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A74 |
16,000,000 p/rev |
OSA166S5 |
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(3) Shaft end structure
Symbol |
Shaft end |
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structure |
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SStraight
TTaper
(Note)
"Taper" is available for the motor whose flange size is □130mm.
(2) Magnetic brakes
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Symbol |
Magnetic brakes |
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None |
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None |
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B |
With magnetic brakes |
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(1) Rated output • Maximum rotation speed |
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Symbol |
Rated output |
Maximum rotation |
Flange size |
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speed |
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54
104
154
224
204
354
454
704
903
1103
0.5 kW |
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4000 r/min |
□130 mm |
1.0 kW |
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4000 r/min |
□130 mm |
1.5 kW |
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4000 r/min |
□130 mm |
2.2 kW |
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4000 r/min |
□130 mm |
2.0 kW |
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4000 r/min |
□180 mm |
3.5 kW |
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4000 r/min |
□180 mm |
4.5 kW |
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4000 r/min |
□180 mm |
7.0 kW |
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4000 r/min |
□180 mm |
9.0 kW |
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3000 r/min |
□220 mm |
11.0 kW |
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3000 r/min |
□220 mm |
(3) HC-H Series
HC-H (1) S- S10 - (2)
(2) Detector
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Symbol |
Detection |
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Resolution |
Detector type |
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method |
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A51 |
Absolute |
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1,000,000p/rev |
OSA105S5 |
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A74 |
position |
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16,000,000p/rev |
OSA166S5 |
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Compatible with DH series |
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(1) Rated output • Maximum rotation speed |
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Symbol |
Rated output |
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Maximum |
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Flange size |
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rotation speed |
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1502 |
15.0kW |
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2500r/min |
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□280 mm |
1 - 4
1. Introduction
Output
Applicable standard
Software No.
Serial No.
MDS-DH- (1)
MITSUBISHI |
SERVO DRIVE UNIT |
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TYPE |
MDS-DH-V1-80 |
Type |
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POWER 9.0kW |
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INPUT 6A |
DC513-648V |
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Input/output conditions |
0.1A 1PH380-440/380-480V 50/60Hz |
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OUTPUT 15A 3PH 456V 0-240Hz |
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EN50178 |
MANUAL #IB11500002 |
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S/W BND5xxW000A0 |
H/W VER. * |
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SERIAL# HVACQFXJK50 DATE 04/01 |
JAPAN |
Manual No. |
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MITSUBISHI ELECTRIC CORPORATION |
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* H V A C Q F X J K 5 0 % * |
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Rating nameplate
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1-axis servo drive unit |
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Compatible motor |
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(1) Type |
Nominal |
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Unit |
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HF-H |
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HP-H |
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HC-H□ |
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MDS-DH- |
maximum |
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width |
75 |
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105 |
54 |
104 |
154 |
204 |
354 |
453 |
703 |
903 |
54 |
104 |
154 |
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224 |
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204 |
354 |
454 |
704 |
903 |
1103 |
1502S-S10 |
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current |
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V1-10 |
10A |
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§ |
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V1-20 |
20A |
60mm |
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§ |
§ |
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§ |
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V1-40 |
40A |
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§ § |
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§ § |
§ |
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V1-80 |
80A |
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§ § |
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§ |
§ |
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V1-80W |
80A |
90mm |
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§ |
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§ |
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V1-160 |
160A |
120mm |
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§ |
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§ |
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V1-160W |
160A |
150mm |
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§ |
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V1-200 |
200A |
240mm |
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§ |
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(Note) |
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(Note) DC connection bar is required. Always install a large capacity drive unit in the left side of power supply unit, and connect with DC connection bar.
§ Indicates the compatible motor for each servo drive unit.
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2-axis servo drive unit |
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Compatible motor |
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(1) Type |
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Nominal |
Unit width |
Axis |
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HF-H |
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HP-H |
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MDS-DH- |
maximum |
75 |
105 |
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54 |
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104 |
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154 |
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204 |
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354 |
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453 |
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703 |
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903 |
54 |
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104 |
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154 |
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224 |
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204 |
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354 |
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454 |
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704 |
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903 |
1103 |
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current |
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V2-1010 |
10+10A |
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LM |
§ |
§ |
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V2-2010 |
20+10A |
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L |
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§ |
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M |
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V2-2020 |
20+20A |
60mm |
LM |
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§ |
§ |
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§ |
§ |
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V2-4020 |
40+20A |
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L |
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§ |
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M |
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V2-4040 |
40+40A |
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LM |
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§ |
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V2-8040 |
80+40A |
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L |
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§ |
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90mm |
M |
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§ |
§ |
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V2-8080 |
80+80A |
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LM |
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§ |
§ |
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§ |
§ |
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§ Indicates the compatible motor for each servo drive unit.
CAUTION |
The dynamic brake unit (MDS-D-DBU) is required for the MDS-DH-V1-160W or |
larger. |
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1 - 5
1. Introduction
|
MITSUBISHI |
AC SPINDLE MOTOR |
|
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||||||
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TYPE SJ-4-V5.5-01T |
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SI CONT |
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4 POLE |
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3 PHASES |
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kW |
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r/min |
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A (~) |
W I N D |
C O N N E C T |
U |
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max |
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3.7 |
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1500-6000 |
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25 |
POWER FACTOR 82 % |
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2.8 |
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8000 |
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17 |
MOTOR INPUT (~) |
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S2 30 min |
S3 |
50 % |
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137 |
- |
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162 V |
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kW |
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r/min |
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A (~) |
AMP INPUT (~) |
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max |
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5.5 |
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1500-6000 |
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33 |
200-230V |
50/60Hz |
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4.1 |
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8000 |
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23 |
INSULATION |
CLASS |
F |
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AMB TEMP. |
0-40ºC |
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SERIAL |
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DATE |
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FRAME |
D90F |
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WEIGHT 49 kg |
IP |
44 |
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|||||
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IEC 34-1 1994 |
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SPEC |
No.RSV00023* |
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|||||
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MITSUBISHI ELECTRIC CORPORATION |
MADE IN JAPAN |
|
||||||||||
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A19103-01 |
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995291-01 |
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(1) Standard spindle motor series |
Rating nameplate |
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SJ-4- (1) (2) - (3)
(4) T
For MDS-DH motor
(4) Special specifications
Symbol Special
specifications
None None
ZHigh-speed
(3)Specification code
The SJ-4-V Series is indicated with a specification code (01 to 99).
(2) Short time rated output
Symbol |
Short time |
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rated output |
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2.2 |
2.2 kW |
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3.7 |
3.7 kW |
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5.5 |
5.5 kW |
||
7.5 |
7.5 kW |
||
11 |
11 kW |
||
15 |
15 kW |
18.518.5 kW
22 |
22 kW |
26 |
26 kW |
37 |
37 kW |
45 |
45 kW |
55 |
55 kW |
(Note)
For the short time rated output of the wide range constant output, high-speed and hollow shaft series, refer to the specifications of each spindle motor.
(1) Motor series |
|
Symbol |
Motor series |
V |
Compact medium to |
|
large capacity |
||
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||
VS |
Hollow shaft |
(Note) The built-in spindle motor is available by special order.
1 - 6
1. Introduction
Output
Applicable standard
Software No.
Serial No.
MITSUBISHI |
SERVO DRIVE UNIT |
||
TYPE |
MDS-DH-SP-200 |
||
POWER 37kW |
|
|
|
INPUT 99A |
DC513-648V |
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|
0.1A 1PH380-440/380-480V 50/60Hz |
|
||
OUTPUT 85A 3PH 340V 0-1167Hz |
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||
EN50178 |
MANUAL #IB1500003 |
|
|
S/W BND5xxW000A0 |
H/W VER. * |
|
|
SERIAL# HVA79G06K0R DATE 04/01 |
|
||
MITSUBISHI ELECTRIC CORPORATION |
JAPAN |
||
* H V A 7 9 G 0 6 K 0 R G * |
Rating nameplate
Type
Input/output conditions
Manual No.
MDS-DH - (1)
(1) Capacity
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Symbol |
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Nominal maximum |
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Unit width |
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current |
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SP-20 |
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20A |
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60mm wide |
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SP-40 |
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40A |
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SP-80 |
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80A |
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90mm wide |
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SP-100 |
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100A |
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120mm wide |
|||
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SP-160 |
|
160A |
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150mm wide |
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SP-200 |
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200A |
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240mm wide (Note) |
|||
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SP-320 |
|
320A |
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SP-480 |
|
480A |
|
300mm wide (Note) |
(Note) DC connection bar is required. Always install a large capacity drive unit in the left side of power supply unit, and connect with DC connection bar.
1 - 7
1. Introduction
Output
Applicable standard
Software No.
Serial No.
MITSUBISHI |
SERVO DRIVE UNIT |
Type |
|||
TYPE |
|
MDS-DH-CV-450 |
|||
POWER 37kW |
|
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|
|
INPUT 87A 3PH 380440/480V 50/60Hz |
|
Input/output conditions |
|||
0.1A 1PH 380440/480V 50/60Hz |
|
||||
OUTPUT 99A DC513-648V |
|
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||
EN50178 |
MANUAL #IB1500003 |
|
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||
S/W BND5xxW000A0 |
H/W VER. * |
|
|
||
SERIAL# HVA3EG1796L DATE 04/01 |
|
Manual No. |
|||
MITSUBISHI ELECTRIC CORPORATION |
JAPAN |
||||
|
|||||
* H V A 3 E G 1 7 9 6 L M * |
|
Rating nameplate
MDS-DH- (1)
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Power supply unit |
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Compatible |
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(1) Type |
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Rated |
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circuit protector |
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Unit width |
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(Mitsubishi) |
||
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MDS-DH- |
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output |
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(Note 1) |
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CV-37 |
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3.7 kW |
|
Under |
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NF63-CW3P-10A |
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development |
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DH-AL-7.5K |
|
|
S-N12-AC400V |
|
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CV-75 |
|
7.5 kW |
|
Under |
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NF63-CW3P-20A |
||||
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development |
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CV-110 |
|
11.0 kW |
|
90mm wide |
|
DH-AL-11K |
|
|
S-N21-AC400V |
NF63-CW3P-30A |
||
|
|
CV-185 |
|
18.5 kW |
|
|
DH-AL-18.5K |
|
|
S-N25-AC400V |
NF63-CW3P-50A |
|||
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|||||||
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CV-300 |
|
30.0 kW |
|
150mm wide |
|
DH-AL-30K |
|
|
S-N50-AC400V |
NF125-CW3P-75A |
||
|
|
CV-370 |
|
37.0 kW |
|
|
DH-AL-37K |
|
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|
NF125-CW3P-100A |
||
|
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(Note 2) |
|
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|
S-N65-AC400V |
||||||
|
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CV-450 |
|
45.0 kW |
|
|
DH-AL-45K |
|
|
NF125-CW3P-125A |
||||
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|||||
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|
CV-550 |
|
55.0 kW |
|
300mm wide |
|
DH-AL-55K |
|
|
S-N80-AC400V |
NF250-CW3P-150A |
||
|
|
CV-750 |
|
75.0 kW |
|
(Note 2) |
|
DH-AL-75K |
|
|
S-N150-AC400V |
NF250-CW3P-200A |
(Note 1) This is an optional part, and must be prepared by the user.
(Note 2) When connecting with a large capacity drive unit, DC connection bar is required. Always install a large capacity drive unit in the left side of power supply unit, and connect with DC connection bar.
1 - 8
1. Introduction
Type DH-AL-18.5K
Nameplate
Top surface of AC reactor
DH-AL- (1)
|
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AC reactor |
|
|
Compatible power |
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||
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||||
|
|
(1) Type |
|
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||
|
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Capacity |
|
|
supply unit |
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||
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DH-AL- |
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|||
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7.5K |
|
7.5 kW |
|
MDS-DH-CV-37 |
||
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MDS-DH-CV-75 |
||||
|
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||
|
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|
11K |
|
11.0 kW |
|
MDS-DH-CV-110 |
||
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|
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18.5K |
|
18.5 kW |
|
MDS-DH-CV-185 |
||
|
|
|
30K |
|
30.0 kW |
|
MDS-DH-CV-300 |
||
|
|
|
37K |
|
37.0 kW |
|
MDS-DH-CV-370 |
||
|
|
|
45K |
|
45.0 kW |
|
MDS-DH-CV-450 |
||
|
|
|
55K |
|
55.0 kW |
|
MDS-DH-CV-550 |
||
|
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|
75K |
|
75.0 kW |
|
MDS-DH-CV-750 |
1 - 9
2-1 Servomotor......................................................................................................................................... |
2-2 |
|
2-1-1 |
Specifications list......................................................................................................................... |
2-2 |
2-1-2 |
Torque characteristics................................................................................................................. |
2-5 |
2-2 Spindle motor ..................................................................................................................................... |
2-8 |
|
2-2-1 Specifications .............................................................................................................................. |
2-8 |
|
2-2-2 |
Output characteristics................................................................................................................ |
2-12 |
2-3 Drive unit .......................................................................................................................................... |
2-16 |
|
2-3-1 |
Installation environment conditions ........................................................................................... |
2-16 |
2-3-2 |
Servo drive unit ......................................................................................................................... |
2-16 |
2-3-3 |
Spindle drive unit....................................................................................................................... |
2-17 |
2-3-4 |
Power supply unit ...................................................................................................................... |
2-17 |
2-3-5 |
AC reactor ................................................................................................................................. |
2-18 |
2-3-6 |
D/A output specifications for servo drive unit............................................................................ |
2-19 |
2-3-7 |
D/A output specifications for spindle drive unit ......................................................................... |
2-22 |
2-3-8 |
Explanation of each part............................................................................................................ |
2-25 |
2 - 1
2. Specifications
HF-H Series
|
|
|
|
|
|
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|
|
HF-H Series |
|
|
|
|
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|
|||
|
Servomotor type |
|
|
|
ABS specifications: HF-H -A74/-A51 |
|
|
|||||||||||
|
|
|
HF-H |
HF-H |
|
HF-H |
|
HF-H |
HF-H |
HF-H |
HF-H |
|
HF-H |
|
HF-H |
HF-H |
||
|
|
|
75 |
105 |
|
54 |
|
104 |
154 |
|
204 |
|
354 |
|
453 |
|
703 |
903 |
|
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|
|
|
Compatible servo drive |
MDS-DH-V1/2- |
10 |
10 |
|
20 |
|
20 |
40 |
|
40 |
|
80 |
|
80 |
|
80W |
160 |
|
unit type |
|
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|||||||||||
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|
Rated output |
[kW] |
0.75 |
1.0 |
|
0.5 |
|
1.0 |
1.5 |
|
2.0 |
|
3.5 |
|
4.5 |
|
7.0 |
9.0 |
Conti- |
|
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|
|
Rated current |
[A] |
1.4 |
1.8 |
|
0.9 |
|
1.8 |
2.9 |
|
3.4 |
|
6.9 |
|
6.7 |
|
8.3 |
13.6 |
|
nuous |
|
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|
|
Rated torque |
[N·m] |
1.8 |
2.4 |
|
1.6 |
|
3.2 |
4.8 |
|
6.4 |
|
11.1 |
|
14.3 |
|
22.3 |
28.7 |
|
charac- |
|
|
|
|
|
|
||||||||||||
teristics |
Stall current |
[A] |
1.6 |
2.3 |
|
1.6 |
|
3.3 |
5.5 |
|
7.3 |
|
14.0 |
|
17.0 |
|
18.2 |
28.0 |
|
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|
|
Stall torque |
[N·m] |
2.0 |
3.0 |
|
2.9 |
|
5.9 |
9.0 |
|
13.7 |
|
22.5 |
|
37.2 |
|
49.0 |
58.8 |
Rated rotation speed |
[r/min] |
4000 |
|
|
|
|
|
|
3000 |
|
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|||
Maximum rotation speed |
[r/min] |
5000 |
|
|
|
|
4000 |
|
|
|
|
|
3500 |
|
3000 |
|||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||
Maximum current |
[A] |
7.0 |
7.75 |
|
8.4 |
|
14.5 |
26.0 |
|
28.5 |
|
58.0 |
|
52.1 |
|
54.2 |
102.0 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Maximum torque |
[N·m] |
8.0 |
11.0 |
|
13.0 |
|
23.3 |
42.0 |
|
47.0 |
|
90.0 |
|
122.0 |
|
152.0 |
208.0 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Power rate at continuous |
[kW/s] |
12.3 |
11.2 |
|
4.1 |
|
8.4 |
12.7 |
|
10.6 |
|
16.5 |
|
18.3 |
|
32.2 |
42.1 |
|
rated torque |
|
|
|
|
|
|
||||||||||||
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
||
Motor inertia |
[kg·cm2] |
2.6 |
5.1 |
|
6.1 |
|
11.9 |
17.8 |
|
38.3 |
|
75.0 |
|
112.0 |
|
154.0 |
196.0 |
|
Motor inertia with brake |
[kg·cm2] |
2.8 |
5.3 |
|
8.3 |
|
14.1 |
20.0 |
|
48.0 |
|
84.7 |
|
121.7 |
|
163.7 |
205.7 |
|
Maximum motor shaft conversion load |
High |
-speed, |
high-accuracy machine |
: |
3 times or less |
of motor |
inertia |
|
||||||||||
General machine tool (interpolation axis) : |
5 times or less of motor inertia |
|
||||||||||||||||
inertia ratio |
|
|
|
|||||||||||||||
|
|
General machine (non-interpolation axis) : 7 times or less of motor inertia |
|
|||||||||||||||
|
|
|
|
|||||||||||||||
Motor side detector |
|
|
|
|
|
|
Resolution per motor revolution |
|
|
|
|
|||||||
|
|
|
|
A74: 16,000,000 pulse/rev, A51: 1,000,000 pulse/rev |
|
|
||||||||||||
|
|
|
|
|
|
|
|
|||||||||||
Structure |
|
|
|
Fully closed, self-cooling (Protection method: IP67) (Note3) |
|
|||||||||||||
|
Ambient temperature |
|
|
|
|
Operation: 0 to 40°C (with no freezing), |
|
|
|
|
||||||||
|
|
|
|
Storage: -15°C to 70°C (with no freezing) |
|
|
||||||||||||
|
|
|
|
|
|
|
|
|||||||||||
|
Ambient humidity |
|
|
Operation: 80%RH or less (with no dew condensation), |
|
|
||||||||||||
Environ- |
|
|
|
Storage: 90%RH or less (with no dew condensation) |
|
|
||||||||||||
|
|
|
|
|
|
|
||||||||||||
Atmosphere |
|
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust |
||||||||||||||||
ment |
|
|||||||||||||||||
|
Altitude |
|
|
|
|
Operation: 1000 meters or less above sea level, |
|
|
||||||||||
|
|
|
|
|
Storage: 10000 meters or less above sea level |
|
|
|||||||||||
|
|
|
|
|
|
|
|
|||||||||||
|
Vibration |
|
|
|
|
|
|
X: 19.6m/s2 (2G) |
Y: 19.6m/s2 (2G) |
|
|
|
|
|||||
Weight |
|
[kg] |
2.5/ |
4.3/ |
|
4.8/ |
|
6.5/ |
8.3/ |
|
12.0/ |
|
19.0/ |
|
26.0/ |
|
32.0/ |
45.0/ |
Without/with brake |
3.9 |
5.7 |
|
6.8 |
|
8.5 |
10.3 |
|
18.0 |
|
25.0 |
|
32.0 |
|
38.0 |
51.0 |
||
|
|
|
|
|
|
|
||||||||||||
Armature insulation class |
|
|
|
|
|
|
Class F |
|
|
|
|
|
|
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values when combined with the drive unit.
(Note 2) Use the HF-H motor in combination with the MDS-DH Series drive unit compatible with the 400VAC input. This motor is not compatible with the conventional MDS-B/C1/CH Series.
(Note 3) The shaft-through portion is excluded.
2 - 2
2. Specifications
HP-H Series
|
|
|
|
|
|
|
|
|
HP-H Series |
|
|
|
|
|
|
||
|
Servomotor type |
|
|
|
ABS specifications: HP-H -A74/-A51 |
|
|
||||||||||
|
|
|
HP-H |
HP-H |
|
HP-H |
|
HP-H |
HP-H |
HP-H |
HP-H |
|
HP-H |
|
HP-H |
HP-H |
|
|
|
|
54 |
104 |
|
154 |
|
224 |
204 |
|
354 |
454 |
|
704 |
|
903 |
1103 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Compatible servo drive |
MDS-DH-V1/2- |
20 |
20 |
|
40 |
|
40 |
40 |
|
80 |
80 |
|
80W |
|
160 |
160W |
|
unit |
|
|
|
|
|
|
|||||||||||
|
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|
|
|
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|
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|
|
|
|
|
|
|
Rated output |
[kW] |
0.5 |
1.0 |
|
1.5 |
|
2.2 |
2.0 |
|
3.5 |
4.5 |
|
7.0 |
|
9.0 |
11.0 |
Conti- |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Rated current |
[A] |
0.9 |
1.8 |
|
2.5 |
|
3.7 |
3.6 |
|
7.6 |
7.1 |
|
9.6 |
|
11.1 |
12.6 |
|
nuous |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Rated torque |
[N·m] |
1.6 |
3.2 |
|
4.8 |
|
6.4 |
6.4 |
|
11.1 |
14.3 |
|
22.3 |
|
28.7 |
35.0 |
|
charac- |
|
|
|
|
|
||||||||||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
teristics |
Stall current |
[A] |
1.8 |
3.4 |
|
4.7 |
|
7.0 |
7.7 |
|
15.5 |
16.0 |
|
21.0 |
|
27.0 |
39.5 |
|
Stall torque |
[N·m] |
3.0 |
5.9 |
|
9.0 |
|
12.0 |
13.7 |
|
22.5 |
31.9 |
|
49.0 |
|
70.0 |
110.0 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Rated rotation speed |
[r/min] |
|
|
|
|
|
|
3000 |
|
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Maximum rotation speed |
[r/min] |
|
|
|
|
4000 |
|
|
|
|
|
|
3000 |
||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||
Maximum current |
[A] |
8.4 |
12.8 |
|
26.0 |
|
28.5 |
28.5 |
|
58.0 |
58.0 |
|
58.0 |
|
86.0 |
106.0 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Maximum torque |
[N·m] |
11.0 |
19.2 |
|
36.5 |
|
46.0 |
43.0 |
|
66.0 |
95.0 |
|
120.0 |
|
170.0 |
260.0 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Power rate at continuous |
[kW/s] |
5.5 |
13.0 |
|
19.0 |
|
20.0 |
14.0 |
|
33.0 |
36.0 |
|
59.0 |
|
52.0 |
48.0 |
|
rated torque |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Motor inertia |
[kg·cm2] |
4.6 |
7.7 |
|
12.0 |
|
20.0 |
29.0 |
|
37.0 |
55.0 |
|
82.0 |
|
225.0 |
300.0 |
|
Motor inertia with brake |
[kg·cm2] |
5.1 |
8.2 |
|
12.5 |
|
25.5 |
34.5 |
|
42.5 |
60.5 |
|
87.5 |
|
249.0 |
324.0 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||||
Maximum motor shaft conversion load |
High |
-speed, |
high-accuracy machine |
: |
3 times or less of motor inertia |
|
|||||||||||
General machine tool (interpolation axis) : |
5 times or less of motor inertia |
|
|||||||||||||||
inertia ratio |
|
|
|
||||||||||||||
|
|
General machine (non-interpolation axis) : 10 times or less of motor inertia |
|
||||||||||||||
|
|
|
|
||||||||||||||
Motor side detector |
|
|
|
|
|
|
Resolution per motor revolution |
|
|
|
|
||||||
|
|
|
|
A74: 16,000,000 pulse/rev, A51: 1,000,000 pulse/rev |
|
|
|||||||||||
|
|
|
|
|
|
|
|
||||||||||
Structure |
|
|
|
Fully closed, self-cooling (Protection method: IP67) (Note3) |
|
||||||||||||
|
|
|
|
|
|
|
|
|
|
|
|
||||||
|
Ambient temperature |
|
|
|
|
Operation: 0 to 40°C (with no freezing), |
|
|
|
|
|||||||
|
|
|
|
Storage: -15°C to 70°C (with no freezing) |
|
|
|||||||||||
|
|
|
|
|
|
|
|
||||||||||
|
Ambient humidity |
|
|
Operation: 80%RH or less (with no dew condensation), |
|
|
|||||||||||
Environ- |
|
|
|
Storage: 90%RH or less (with no dew condensation) |
|
|
|||||||||||
|
|
|
|
|
|
|
|||||||||||
Atmosphere |
|
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust |
|||||||||||||||
ment |
|
||||||||||||||||
|
Altitude |
|
|
|
|
Operation: 1000 meters or less above sea level, |
|
|
|||||||||
|
|
|
|
|
storage: 10000 meters or less above sea level |
|
|
||||||||||
|
|
|
|
|
|
|
|
||||||||||
|
Vibration |
|
|
|
|
|
|
X: 19.6m/s2 (2G) |
Y: 19.6m/s2(2G) |
|
|
|
|
||||
Weight |
|
[kg] |
6.0/ |
7.0/ |
|
8.0/ |
|
12.0/ |
14.0/ |
17.0/ |
21.0/ |
|
37.0/ |
|
51.0/ |
74.0/ |
|
Without/with brake |
7.3 |
8.5 |
|
9.5 |
|
13.9 |
15.9 |
|
22.0 |
26.0 |
|
43.0 |
|
61.4 |
84.4 |
||
|
|
|
|
|
|
||||||||||||
Armature insulation class |
|
|
|
|
|
|
Class F |
|
|
|
|
|
|
||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values when combined with the drive unit.
(Note 2) Use the HP-H motor in combination with the MDS-DH Series drive unit compatible with the 400VAC input. This motor is not compatible with the conventional MDS-B/C1/CH Series.
(Note 3) The shaft-through portion is excluded.
2 - 3
2. Specifications
HC-H Series
Servomotor type
Compatible servo drive MDS-DH-V1- unit
Rated output [kW]
Conti- |
Rated current |
[A] |
|
nuous |
|
|
|
Rated torque |
[N·m] |
||
charac- |
|||
|
|
||
teristics |
Stall current |
[A] |
|
|
|
|
|
|
Stall torque |
[N·m] |
|
|
|
||
Rated rotation speed |
[r/min] |
||
|
|
||
Maximum rotation speed |
[r/min] |
||
|
|
||
Maximum current |
[A] |
||
|
|
||
Maximum torque |
[N·m] |
||
Power rate at continuous |
[kW/s] |
||
rated torque |
|
||
Motor inertia |
[kg·cm2] |
||
Motor inertia with brake |
[kg·cm2] |
Maximum motor shaft conversion load inertia ratio
Motor side detector
Structure
Cooling |
Input voltage |
|
fan |
Maximum power consumption |
|
|
||
|
|
|
|
Ambient temperature |
|
|
|
|
Environ- |
Ambient humidity |
|
|
||
Atmosphere |
||
ment |
||
|
Altitude |
|
|
|
|
|
Vibration |
|
|
|
Weight |
[kg] |
|
Without/with brake |
||
|
Armature insulation class
HC-H Series
ABS specifications: HC-H -A74/-A51
HC-H1502S-S10
200
15.0
38.8
71.6
76.8
146.0
2000
2500
160.0
280.0
104.5
550
---
High-speed, high-accuracy machine |
: |
3 times or less of motor inertia |
General machine tool (interpolation axis) : |
5 times or less of motor inertia |
|
General machine (non-interpolation axis) : |
10 times or less of motor inertia |
Resolution per motor revolution
A74: 16,000,000 pulse/rev, A51: 1,000,000 pulse/rev
Fully closed, self-cooling (Protection method: IP67) (Note3)
3-phase 400V
85W
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Operation: 1000 meters or less above sea level, storage: 10000 meters or less above sea level
X: 9.8m/s2 (2G) Y: 9.8m/s2(2G)
160/---
Class F
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values when combined with the drive unit.
(Note 2) Use the HC-H motor in combination with the MDS-DH Series drive unit compatible with the 400VAC input. This motor is not compatible with the conventional MDS-B/C1/CH Series.
(Note 3) The shaft-through portion is excluded.
2 - 4