Mitsubishi MDS-DH SPECIFICATIONS MANUAL

MELDAS is a registered trademark of Mitsubishi Electric Corporation.

Other company and product names that appear in this manual are trademarks or registered trademarks of their respective companies.

Introduction

Thank you for selecting the Mitsubishi numerical control unit.

This instruction manual describes the handling and caution points for using this AC servo/spindle.

Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage.

Make sure that this instruction manual is delivered to the end user.

Always store this manual in a safe place.

In order to confirm if all function specifications described in this manual are applicable, refer to the specifications for each CNC.

Notes on Reading This Manual

(1)Since the description of this specification manual deals with NC in general, for the specifications of individual machine tools, refer to the manuals issued by the respective machine manufacturers. The "restrictions" and "available functions" described in the manuals issued by the machine manufacturers have precedence to those in this manual.

(2)This manual describes as many special operations as possible, but it should be kept in mind that items not mentioned in this manual cannot be performed.

Precautions for safety

Please read this manual and auxiliary documents before starting installation, operation, maintenance or inspection to ensure correct usage. Thoroughly understand the device, safety information and precautions before starting operation.

The safety precautions in this instruction manual are ranked as "WARNING" and "CAUTION".

	DANGER	When there is a potential risk of fatal or serious injuries if
		handling is mistaken.
	WARNING	When a dangerous situation, or fatal or serious injuries may
		occur if handling is mistaken.
	CAUTION	When a dangerous situation may occur if handling is mistaken
		leading to medium or minor injuries, or physical damage.

Note that some items described as			CAUTION	may lead to major results depending on

the situation. In any case, important information that must be observed is described.

The signs indicating prohibited and mandatory matters are explained below.

Indicates a prohibited matter. For example, "Fire Prohibited" is indicated as .

Indicates a mandatory matter. For example, grounding is indicated as .

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.

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
	Ambient	Operation: 0 to 55°C (with no freezing),	Operation: 0 to 40°C (with no freezing),
		Storage / Transportation: -15°C to 70°C
	temperature		Storage: -15°C to 70°C (Note 2) (with no freezing)
		(with no freezing)
		Operation: 90%RH or less	Operation: 80%RH or less
	Ambient	(with no dew condensation)	(with no dew condensation),
	humidity	Storage / Transportation: 90%RH or less	Storage: 90%RH or less
		(with no dew condensation)	(with no dew condensation)
	Atmosphere	Indoors (no direct sunlight)
		With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
		Operation/Storage: 1000 meters or less above
	Altitude	sea level,	Operation: 1000 meters or less above sea level,
		Transportation: 13000 meters or less above sea	Storage: 10000 meters or less above sea level
		level
	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
	(24VDC)
	Control output	RA
	signal

	Servodrive unit
	COM
	(24VDC)
	Control output	RA
	signal

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

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

When using a shielded cable instructed in the instruction manual, always ground the cable with a cable clamp, etc.

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.

CONTENTS

1. Introduction
1-1 Servo/spindle drive system configuration............................................................................			1-2
1-1-1		System configuration .....................................................................................................	1-2
1-2	Explanation of type ..............................................................................................................		1-3
1-2-1		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
2. Specifications
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
3. Characteristics
3-1	Servomotor...........................................................................................................................		3-2
3-1-1		Environmental conditions ..............................................................................................	3-2
3-1-2		Quakeproof level............................................................................................................	3-2
3-1-3		Shaft characteristics ......................................................................................................	3-3
3-1-4 Oil / water standards......................................................................................................			3-4
3-1-5		Magnetic brake ..............................................................................................................	3-5
3-1-6		Dynamic brake characteristics ......................................................................................	3-8
3-2	Spindle motor.....................................................................................................................		3-10
3-2-1		Environmental conditions ............................................................................................	3-10
3-2-2		Shaft characteristics ....................................................................................................	3-10
3-3	Drive unit characteristics....................................................................................................		3-11
3-3-1		Environmental conditions ............................................................................................	3-11
3-3-2		Heating value...............................................................................................................	3-12
3-3-3		Overload protection characteristics.............................................................................	3-13
3-3-4		Drive unti arrangement ................................................................................................	3-21
4. Dedicated options
4-1	Servo options .......................................................................................................................		4-2
4-1-1 Dynamic brake unit (MDS-D-DBU) (mandatory selection for large capacity) ..............			4-5
4-1-2 Battery option (MDS-A-BT, FCU6-BTBOX-36, ER6V-C119B, A6BAT) .......................			4-7
4-1-3 Ball screw side detector (OSA105-ET2, OSA166-ET2) .............................................			4-15
4-1-4		Machine side detector .................................................................................................	4-17

4-2	Spindle options ..................................................................................................................			4-21
4-2-1 Spindle side detector (OSE-1024-3-15-68, OSE-1024-3-15-68-8) ............................				4-22
4-2-2 C axis detector (HEIDENHAIN ERM280) ...................................................................				4-24
4-3	Detector interface unit........................................................................................................			4-26
4-3-1 MDS-B-HR...................................................................................................................				4-26
4-3-2 APE391M.....................................................................................................................				4-28
4-3-3 MJ831 ..........................................................................................................................				4-29
4-3-4 MDS-B-SD (Signal divided unit) ..................................................................................				4-30
4-4	Drive unit option .................................................................................................................			4-32
4-4-1		DC connection bar.......................................................................................................		4-32
4-4-2 Side face protection cover...........................................................................................				4-33
4-5	Cables and connectors......................................................................................................			4-34
4-5-1		Cable connection diagram...........................................................................................		4-34
4-5-2 List of cables and connectors......................................................................................				4-35
4-5-3 Optical communication cable specifications ...............................................................				4-40
5. Selection of peripheral devices
5-1	Selection of wire...................................................................................................................			5-2
5-1-1 Example of wires by unit................................................................................................				5-2
5-2 Selection of circuit protector and contactor .........................................................................				5-5
5-2-1 Selection of circuit protector ..........................................................................................				5-5
5-2-2		Selection of contactor ....................................................................................................		5-6
5-3 Selection of earth leakage breaker......................................................................................				5-7
5-4 Branch-circuit protection (for control power supply)............................................................				5-8
5-4-1		Circuit protection............................................................................................................		5-8
5-4-2		Fuse protection ..............................................................................................................		5-8
5-5	Noise filter ............................................................................................................................			5-9
5-6	Surge absorber ..................................................................................................................			5-10
5-7	Relay ..................................................................................................................................			5-11
Appendix 1. Outline dimension drawings
Appendix 1-1 Outline dimension drawings of servomotor.......................................................				A1-2
Appendix 1-1-1			HF-H motor..................................................................................................	A1-2
Appendix 1-1-2			HP-H motor................................................................................................	A1-11
Appendix 1-1-3			HC-H motor ...............................................................................................	A1-16
Appendix 1-2 Outline dimension drawings of spindle motor .................................................				A1-17
Appendix 1-3 Outline dimension drawings of unit .................................................................				A1-29
Appendix 1-3-1			Servo drive unit..........................................................................................	A1-29
Appendix 1-3-2			Spindle drive unit.......................................................................................	A1-36
Appendix 1-3-3 Power supply unit ......................................................................................				A1-42
Appendix 1-3-4 Installation position of drive unit cooling fan .............................................				A1-45
Appendix 1-3-5			AC reactor .................................................................................................	A1-47
Appendix 2. Cable and Connector Specifications
Appendix 2-1 Selection of cable ..............................................................................................				A2-2
Appendix 2-1-1 Cable wire and assembly ............................................................................				A2-2
Appendix 2-2 Cable connection diagram.................................................................................				A2-4
Appendix 2-3 Main circuit cable connection diagram............................................................				A2-14
Appendix 2-4 Connector outline dimension drawings ...........................................................				A2-15
Appendix 2-5 Cable and connector assembly.......................................................................				A2-27
Appendix 2-5-1 CM10-SP**S plug connector.....................................................................				A2-27
Appendix 2-5-2 CM10-AP**S Angle Plug Connector .........................................................				A2-34

Appendix 3. Selection
Appendix 3-1 Selection of the servomotor series....................................................................			A3-2
Appendix 3-1-1 Motor series characteristics ........................................................................			A3-2
Appendix 3-1-2		Servomotor precision ..................................................................................	A3-2
Appendix 3-1-3 Selection of servomotor capacity ................................................................			A3-3
Appendix 3-1-4 Motor shaft conversion load torque.............................................................			A3-6
Appendix 3-1-5 Expressions for load inertia calculation.......................................................			A3-7
Appendix 3-2 Selection of the power supply unit ....................................................................			A3-8
Appendix 3-2-1 Calculation of spindle output .......................................................................			A3-8
Appendix 3-2-2 Calculation of servo motor output ...............................................................			A3-9
Appendix 3-2-3 Selection of the power supply unit ............................................................			A3-10
Appendix 3-2-4 Required capacity of power supply...........................................................			A3-11
Appendix 3-2-5 Example for power supply unit and power supply facility capacity...........			A3-12
Appendix 4. Transportation Restrictions for Lithium Batteries
Appendix 4-1 Restriction for packing.......................................................................................			A4-2
Appendix 4-1-1		Target products ...........................................................................................	A4-2
Appendix 4-1-2		Handling by user .........................................................................................	A4-3
Appendix 4-1-3		Reference ....................................................................................................	A4-4
Appendix 4-2 Issuing domestic law of the United State for primary lithium battery
	transportation ....................................................................................................		A4-5
Appendix 4-2-1 Outline of regulation ....................................................................................			A4-5
Appendix 4-2-2		Target products ...........................................................................................	A4-5
Appendix 4-2-3		Handling by user .........................................................................................	A4-5
Appendix 4-2-4		Reference ....................................................................................................	A4-5
Appendix 4-3 Example of hazardous goods declaration list ...................................................			A4-6
Appendix 5. Compliance to EC Directives
Appendix 5-1 Compliance to EC Directives ............................................................................			A5-2
Appendix 5-1-1 European EC Directives..............................................................................			A5-2
Appendix 5-1-2 Cautions for EC Directive compliance ........................................................			A5-2
Appendix 6. EMC Installation Guidelines
Appendix 6-1	Introduction ........................................................................................................		A6-2
Appendix 6-2	EMC instructions ...............................................................................................		A6-2
Appendix 6-3	EMC measures..................................................................................................		A6-3
Appendix 6-4 Measures for panel structure.............................................................................			A6-3
Appendix 6-4-1 Measures for control panel unit...................................................................			A6-3
Appendix 6-4-2 Measures for door .......................................................................................			A6-4
Appendix 6-4-3 Measures for operation board panel...........................................................			A6-4
Appendix 6-4-4 Shielding of the power supply input section................................................			A6-4
Appendix 6-5 Measures for various cables .............................................................................			A6-5
Appendix 6-5-1 Measures for wiring in panel .......................................................................			A6-5
Appendix 6-5-2 Measures for shield treatment.....................................................................			A6-5
Appendix 6-5-3 Servo/spindle motor power cable................................................................			A6-6
Appendix 6-5-4 Servo/spindle motor feedback cable...........................................................			A6-7
Appendix 6-6 EMC countermeasure parts ..............................................................................			A6-8
Appendix 6-6-1 Shield clamp fitting ......................................................................................			A6-8
Appendix 6-6-2		Ferrite core ..................................................................................................	A6-9
Appendix 6-6-3		Power line filter ..........................................................................................	A6-10
Appendix 6-6-4		Surge protector..........................................................................................	A6-17

Appendix 7. EC Declaration of conformity
Appendix 7-1 Compliance to EC Directives ............................................................................		A7-2
Appendix 7-1-1 Low voltage equipment ...............................................................................		A7-2
Appendix 7-1-2 EMC Directive (Electromagnetic compatibility).........................................		A7-11
Appendix 8. Instruction Manual for Compliance with UL/c-UL Standard
Appendix 8.1 Operation surrounding air ambient temperature...............................................		A8-2
Appendix 8.2 Notes for AC servo/spindle system ...................................................................		A8-2
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
Appendix 8.2.5	Peripheral devices .......................................................................................	A8-3
Appendix 8.2.6 Field Wiring Reference Table for Input and Output ....................................		A8-3
Appendix 8.2.7 Motor Over Load Protection ........................................................................		A8-4
Appendix 8.2.8 Flange of servo motor..................................................................................		A8-4
Appendix 8.2.9 Spindle Drive / Motor Combinations............................................................		A8-5
Appendix 8.3 AC Servo/Spindle System Connection..............................................................		A8-6
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)
System
Appendix 9-1 Outline of China Compulsory Product Certification System .............................		A9-2
Appendix 9-2 First Catalogue of Products subject to Compulsory Product Certification........		A9-2
Appendix 9-3 Precautions for Shipping Products....................................................................		A9-3
Appendix 9-4 Application for Exemption..................................................................................		A9-4
Appendix 9-5 Mitsubishi NC Product Subject to/Not Subject to CCC Certification ................		A9-5

1. Introduction

1-1 Servo/spindle drive system configuration ..........................................................................................		1-2
1-1-1	System configuration...................................................................................................................	1-2
1-2 Explanation of type.............................................................................................................................		1-3
1-2-1	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

1-1 Servo/spindle drive system configuration

1-1-1 System configuration

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
L+
L-
			Circuit protector
			or
			Protection fuse
			(Note)
		To 2nd and 3rd	Prepared by
			user
		axis servo	Contactor
			(Note)
			Prepared by
			user
			AC reactor
			(DH-AL)
Servomotor		Spindle motor	Circuit protector
			(Note)
			Prepared by
	Linear scale		user
(for full closed control)
(Note)	Prepared by user

									Cell battery	Spindle side detector
									built in drive unit	3-phase 400VAC power supply
									(ER6V-C119B)

In addition to the cell battery in the above, the external battery unit (MDS-A-BT) can be also used.

1 - 2

1. Introduction

1-2 Explanation of type

1-2-1 Servomotor type

MITSUBISHI

Motor type

AC SERVO MOTOR

Detector type

HF-HxxxBS

ROTARY DETECTOR OSA166S5

INPUT 3AC 456 V

xxx A

SER. X X X X X X X X X X X

DATE 0401

Rated output

Serial No.

OUTPUT x.xkW IEC34-1 1994

A2

MITSUBISHI ELECTRIC CORP.

D

Rated rotation speed

3000r/min IP65 CI.F xx kg

MADE IN JAPAN

Serial No.

SER.No.xxxxxxxx* DATE 04-1

MITSUBISHI ELECTRIC

Detector rating nameplate

MADE IN JAPAN

00395298-01

Motor rating nameplate

(1) HF-H Series

HF-H

(1)

(2)

(3)

-

(4)

(4) Detector

Symbol

Detection

Resolution

Detector type

method

A51

Absolute position

1,000,000 p/rev

OSA105S5

A74

16,000,000 p/rev

OSA166S5

(3) Shaft end structure

Symbol	Shaft end
	structure

SStraight

TTaper

(Note)

"Taper" is available for the motor whose flange size is □90mm or □130mm.

(2) Magnetic brakes

		Symbol		Magnetic brakes
		None			None
		B	With magnetic brakes
		(1) Rated output • Maximum rotation speed
						Maximum rotation
		Symbol	Rated output						Flange size
						speed
		75	0.75 kW			5000 r/min				□90 mm
		105	1.0 kW			5000 r/min				□90 mm
		54	0.5 kW			4000 r/min			□130 mm
		104	1.0 kW			4000 r/min			□130 mm
		154	1.5 kW			4000 r/min			□130 mm
		204	2.0 kW			4000 r/min			□176 mm
		354	3.5 kW			4000 r/min			□176 mm
		453	4.5 kW			3500 r/min			□176 mm
		703	7.0 kW			3000 r/min			□176 mm
		903	9.0 kW			3000 r/min			□204 mm

1 - 3

1. Introduction

(2) HP-H Series

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

(4) Detector

	Symbol	Detection	Resolution	Detector type
		method
	A51	Absolute position	1,000,000 p/rev	OSA105S5
	A74		16,000,000 p/rev	OSA166S5

(3) Shaft end structure

Symbol	Shaft end
	structure

SStraight

TTaper

(Note)

"Taper" is available for the motor whose flange size is □130mm.

(2) Magnetic brakes

	Symbol	Magnetic brakes
	None		None
	B	With magnetic brakes
	(1) Rated output • Maximum rotation speed
	Symbol	Rated output	Maximum rotation	Flange size
			speed

54

104

154

224

204

354

454

704

903

1103

0.5 kW		4000 r/min	□130 mm
1.0 kW		4000 r/min	□130 mm
1.5 kW		4000 r/min	□130 mm
2.2 kW		4000 r/min	□130 mm
2.0 kW		4000 r/min	□180 mm
3.5 kW		4000 r/min	□180 mm
4.5 kW		4000 r/min	□180 mm
7.0 kW		4000 r/min	□180 mm
9.0 kW		3000 r/min	□220 mm
11.0 kW		3000 r/min	□220 mm

(3) HC-H Series

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

(2) Detector

		Symbol	Detection		Resolution		Detector type
			method
		A51	Absolute		1,000,000p/rev		OSA105S5
		A74	position		16,000,000p/rev		OSA166S5
		Compatible with DH series
		(1) Rated output • Maximum rotation speed
		Symbol	Rated output		Maximum		Flange size
					rotation speed
		1502	15.0kW		2500r/min		□280 mm

1 - 4

1. Introduction

1-2-2 Servo drive unit type

Output

Applicable standard

Software No.

Serial No.

MDS-DH- (1)

MITSUBISHI		SERVO DRIVE UNIT
TYPE		MDS-DH-V1-80		Type
POWER 9.0kW
INPUT 6A	DC513-648V			Input/output conditions
0.1A 1PH380-440/380-480V 50/60Hz
OUTPUT 15A 3PH 456V 0-240Hz
EN50178	MANUAL #IB11500002
S/W BND5xxW000A0		H/W VER. *
SERIAL# HVACQFXJK50 DATE 04/01			JAPAN	Manual No.
MITSUBISHI ELECTRIC CORPORATION
* H V A C Q F X J K 5 0 % *

Rating nameplate

1-axis servo drive unit

Compatible motor

(1) Type

Nominal

Unit

HF-H

HP-H

HC-H□

MDS-DH-

maximum

width

75

105

54

104

154

204

354

453

703

903

54

104

154

224

204

354

454

704

903

1103

1502S-S10

current

V1-10

10A

§

§

V1-20

20A

60mm

§

§

§

§

V1-40

40A

§ §

§ §

§

V1-80

80A

§ §

§

§

V1-80W

80A

90mm

§

§

V1-160

160A

120mm

§

§

V1-160W

160A

150mm

§

V1-200

200A

240mm

§

(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.

§ Indicates the compatible motor for each servo drive unit.

2-axis servo drive unit

Compatible motor

(1) Type

Nominal

Unit width

Axis

HF-H

HP-H

MDS-DH-

maximum

75

105

54

104

154

204

354

453

703

903

54

104

154

224

204

354

454

704

903

1103

current

V2-1010

10+10A

LM

§

§

V2-2010

20+10A

L

§

§

§

§

M

§

§

V2-2020

20+20A

60mm

LM

§

§

§

§

V2-4020

40+20A

L

§

§

§

§

§

M

§

§

§

§

V2-4040

40+40A

LM

§

§

§

§

§

V2-8040

80+40A

L

§

§

§

§

90mm

M

§

§

§

§

§

V2-8080

80+80A

LM

§

§

§

§

§ 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.

1 - 5

1. Introduction

1-2-3 Spindle motor type

MITSUBISHI

AC SPINDLE MOTOR

TYPE SJ-4-V5.5-01T

SI CONT

4 POLE

3 PHASES

kW

r/min

A (~)

W I N D

C O N N E C T

U

max

3.7

1500-6000

25

POWER FACTOR 82 %

2.8

8000

17

MOTOR INPUT (~)

S2 30 min

S3

50 %

137

-

162 V

kW

r/min

A (~)

AMP INPUT (~)

max

5.5

1500-6000

33

200-230V

50/60Hz

4.1

8000

23

INSULATION

CLASS

F

AMB TEMP.

0-40ºC

SERIAL

DATE

FRAME

D90F

WEIGHT 49 kg

IP

44

IEC 34-1 1994

SPEC

No.RSV00023*

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

A19103-01

995291-01

(1) Standard spindle motor series

Rating nameplate

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
		rated output
	2.2	2.2 kW
	3.7	3.7 kW
	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
	VS	Hollow shaft

(Note) The built-in spindle motor is available by special order.

1 - 6

1. Introduction

1-2-4 Spindle drive unit type

Output

Applicable standard

Software No.

Serial No.

MITSUBISHI		SERVO DRIVE UNIT
TYPE	MDS-DH-SP-200
POWER 37kW
INPUT 99A	DC513-648V
0.1A 1PH380-440/380-480V 50/60Hz
OUTPUT 85A 3PH 340V 0-1167Hz
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

		Symbol			Nominal maximum			Unit width
					current
		SP-20			20A			60mm wide
		SP-40			40A
		SP-80			80A			90mm wide
		SP-100			100A			120mm wide
		SP-160			160A			150mm wide
		SP-200			200A			240mm wide (Note)
		SP-320			320A
		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

1-2-5 Power supply unit type

Output

Applicable standard

Software No.

Serial No.

	MITSUBISHI		SERVO DRIVE UNIT		Type
	TYPE		MDS-DH-CV-450
	POWER 37kW
	INPUT 87A 3PH 380440/480V 50/60Hz				Input/output conditions
	0.1A 1PH 380440/480V 50/60Hz
	OUTPUT 99A DC513-648V
	EN50178	MANUAL #IB1500003
	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)

Power supply unit

Compatible

(1) Type

Rated

circuit protector

Unit width

(Mitsubishi)

MDS-DH-

output

(Note 1)

CV-37

3.7 kW

Under

NF63-CW3P-10A

development

DH-AL-7.5K

S-N12-AC400V

CV-75

7.5 kW

Under

NF63-CW3P-20A

development

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

CV-300

30.0 kW

150mm wide

DH-AL-30K

S-N50-AC400V

NF125-CW3P-75A

CV-370

37.0 kW

DH-AL-37K

NF125-CW3P-100A

(Note 2)

S-N65-AC400V

CV-450

45.0 kW

DH-AL-45K

NF125-CW3P-125A

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

1-2-6 AC reactor type

Type DH-AL-18.5K

Nameplate

Top surface of AC reactor

DH-AL- (1)

			AC reactor					Compatible power
		(1) Type
					Capacity			supply unit
		DH-AL-
			7.5K		7.5 kW			MDS-DH-CV-37
								MDS-DH-CV-75
			11K		11.0 kW			MDS-DH-CV-110
			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
			75K		75.0 kW			MDS-DH-CV-750

1 - 9

2. Specifications

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

2-1 Servomotor

2-1-1 Specifications list

HF-H Series

									HF-H Series
	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
Compatible servo drive		MDS-DH-V1/2-	10	10		20		20	40		40		80		80		80W	160
unit type
	Rated output	[kW]	0.75	1.0		0.5		1.0	1.5		2.0		3.5		4.5		7.0	9.0
Conti-
	Rated current	[A]	1.4	1.8		0.9		1.8	2.9		3.4		6.9		6.7		8.3	13.6
nuous
	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
	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
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
	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.

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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

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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.

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