Mitsubishi MDS-DM 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
DANGER
WARNING
CAUTION
POINT
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".
When there is a potential risk of fatal or serious injuries if handling is mistaken.
When a dangerous situation, or fatal or serious injuries may occur if handling is mistaken.
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
Important matters that should be understood for operation of this machine are indicated as a POINT
in this manual.
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.
WARNING
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.)
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
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
Operation: 0 to 55 (with no freezing),
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Vibration/impact According to each unit or motor specification
Storage / Transportation: -15 to 70
(with no freezing)
Operation: 90%RH or less
(with no dew condensation)
Storage / Transportation: 90%RH or less
(with no dew condensation)
Indoors (no direct sunlight)
With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
Operation/Storage: 1000 meters or less above sea
level,
Transportation: 13000 meters or less above sea
level
(Note 1) For details, confirm each unit or motor specifications in addition.
(Note 2) -15 to 55 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 . 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.
Operation: 0 to 40 (with no freezing),
Storage: -15 to 70 (Note2) (with no freezing)
Operation: 80%RH or less
(with no dew condensation),
Storage: 90%RH or less
(with no dew condensation)
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
(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).
CAUTION
)
)
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
Servodrive unit
COM
(24VDC
Control output
signal
Servodrive unit
RA
COM
(24VDC
Control output
signal
RA
malfunction so that signals are not output, and
emergency stop and other safety circuits are inoperable.
Do not connect/disconnect the cables connected between the units while the power is ON.
Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could cause
the cable to fall off while the power is ON.
When using a shielded cable instructed in the instruction manual, always ground the cable with a cable
clamp, etc.
Always separate the signals wires from the drive wire and power line.
Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to the
system.
(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
CAUTION
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.
(5) Troubleshooting
CAUTION
Servomotor
Magnetic
brake
Shut off with the servomotor
brake control output.
Shut off with NC brake
control PLC output.
24VDC
MBR
EMG
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.
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"
(a) Recycle as much of this product as possible when finished with use.
(b) When recycling, often parts are sorted into steel scraps and electric parts, etc., and sold to scrap
contractors. Mitsubishi recommends sorting the product and selling the members to appropriate
contractors.
(2 ) Requirements for "Law for Treatment of Waste and Cleaning"
(a) Mitsubishi recommends recycling and selling the product when no longer needed according to item
(1) above. The user should make an effort to reduce waste in this manner.
(b) When disposing a product that cannot be resold, it shall be treated as a waste product.
(c) The treatment of industrial waste must be commissioned to a licensed industrial waste treatment
contractor, and appropriate measures, including a manifest control, must be taken.
(d) Batteries correspond to "primary batteries", and must be disposed of according to local disposal
laws.
Contents
1 Introduction ................................................................ 1 - 1
1-1 Servo/spindle drive system configuration ......................................................................................... 1 - 2
1-1-1 System configuration ................................................................................................................ 1 - 2
1-2 Explanation of type ........................................................................................................................... 1 - 4
1-2-1 Servomotor type ....................................................................................................................... 1 - 4
1-2-2 Drive unit type........................................................................................................................... 1 - 5
1-2-3 Spindle motor type.................................................................................................................... 1 - 6
1-2-4 AC reactor type......................................................................................................................... 1 - 6
2 Specifications............................................................. 2 - 1
2-1 Servomotor ....................................................................................................................................... 2 - 2
2-1-1 Specifications list...................................................................................................................... 2 - 2
2-1-2 Torque characteristics .............................................................................................................. 2 - 4
2-2 Spindle motor.................................................................................................................................... 2 - 6
2-2-1 Specifications ........................................................................................................................... 2 - 6
2-2-2 Output characteristics............................................................................................................... 2 - 9
2-3 Drive unit......................................................................................................................................... 2 - 11
2-3-1 Installation environment conditions ........................................................................................ 2 - 11
2-3-2 Multi axis drive unit ................................................................................................................. 2 - 11
2-3-3 AC reactor .............................................................................................................................. 2 - 13
2-3-4 D/A output specifications (Servo) ........................................................................................... 2 - 14
2-3-5 D/A output specifications (Spindle)......................................................................................... 2 - 17
2-3-6 Explanation of each part......................................................................................................... 2 - 20
3 Characteristics ........................................................... 3 - 1
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 Machine accuracy..................................................................................................................... 3 - 4
3-1-5 Oil / water standards................................................................................................................. 3 - 5
3-1-6 Magnetic brake ......................................................................................................................... 3 - 6
3-1-7 Dynamic brake characteristics ............................................................................................... 3 - 10
3-2 Spindle motor.................................................................................................................................. 3 - 12
3-2-1 Environmental conditions ...................................................................................................... 3 - 12
3-2-2 Shaft characteristics ............................................................................................................... 3 - 12
3-3 Drive unit characteristics................................................................................................................. 3 - 13
3-3-1 Environmental conditions ...................................................................................................... 3 - 13
3-3-2 Heating value.......................................................................................................................... 3 - 14
3-3-3 Overload protection characteristics ........................................................................................ 3 - 15
4 Dedicated Options .....................................................4 - 1
4-1 Servo options.................................................................................................................................... 4 - 2
4-1-1 Battery option (MDS-A-BT, FCU6-BTBOX-36, ER6V-C119B, A6BAT).................................... 4 - 2
4-2 Spindle options ............................................................................................................................... 4 - 12
4-2-1 Spindle side detector (OSE-1024-3-15-68, OSE-1024-3-15-68-8)......................................... 4 - 13
4-2-2 C axis detector (HEIDENHAIN ERM280) ............................................................................... 4 - 15
4-3 Detector interface unit..................................................................................................................... 4 - 17
4-3-1 APE391M ............................................................................................................................... 4 - 17
4-4 Drive uint option .............................................................................................................................. 4 - 18
4-4-1 Side protection cove ............................................................................................................... 4 - 18
4-5 Cables and connectors ................................................................................................................... 4 - 19
4-5-1 Cable connection diagram...................................................................................................... 4 - 19
4-5-2 List of cables and connectors ................................................................................................. 4 - 21
4-5-3 Optical communication cable specifications ........................................................................... 4 - 26
5 Selection of Peripheral Devices ............................... 5 - 1
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 protector ........................................................................................................................ 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
Appendix 1-1 Outline dimension drawings of servomotor....................................................... Appendix 1 - 2
Appendix 1-1-1 HF motor................................................................................................... Appendix 1 - 2
Appendix 1-1-2 HF-KP motor........................................................................................... Appendix 1 - 45
Appendix 1-2 Outline dimension drawings of spindle motor ................................................. Appendix 1 - 49
Appendix 1-3 Outline dimension drawings of unit................................................................. Appendix 1 - 55
Appendix 1-3-1 3-axis integrated servo drive unit........................................................... Appendix 1 - 55
Appendix 1-3-2 Multiaxis integrated servo drive unit ...................................................... Appendix 1 - 56
Appendix 1-3-3 AC reactor .............................................................................................. Appendix 1 - 58
Appendix 2 Cable and Connector Specifications
...................................................Appendix 2 - 1
Appendix 2-1 Selection of cable.............................................................................................. Appendix 2 - 2
Appendix 2-1-1 Cable wire and assembly ......................................................................... Appendix 2 - 2
Appendix 2-2 Cable connection diagram ................................................................................ Appendix 2 - 4
Appendix 2-3 Main circuit cable connection diagram............................................................ Appendix 2 - 13
Appendix 2-4 Connector outline dimension drawings ........................................................... Appendix 2 - 14
Appendix 2-5 Cable and connector assembly....................................................................... Appendix 2 - 25
Appendix 2-5-1 CM10-SP**S plug connector .................................................................. Appendix 2 - 25
Appendix 2-5-2 CM10-AP**S Angle Plug Connector....................................................... Appendix 2 - 32
Appendix 3 Selection...................................Appendix 3 - 1
Appendix 3-1 Selection of the servomotor series.................................................................... Appendix 3 - 2
Appendix 3-1-1 Motor series characteristics...................................................................... Appendix 3 - 2
Appendix 3-1-2 Servomotor precision................................................................................ Appendix 3 - 2
Appendix 3-1-3 Selection of servomotor capacity.............................................................. Appendix 3 - 3
Appendix 3-1-4 Motor shaft conversion load torque ........................................................ Appendix 3 - 11
Appendix 3-1-5 Expressions for load inertia calculation ..................................................Appendix 3 - 12
Appendix 3-2 Selection of the power supply unit .................................................................. Appendix 3 - 13
Appendix 4 Transportation Restrictions for Lithium
Batteries ...................................Appendix 4 - 1
Appendix 4-1 Restriction for packing ...................................................................................... Appendix 4 - 2
Appendix 4-1-1 Target products ........................................................................................ Appendix 4 - 3
Appendix 4-1-2 Handling by user....................................................................................... Appendix 4 - 4
Appendix 4-1-3 Reference ................................................................................................. Appendix 4 - 5
Appendix 4-2 Issuing domestic law of the United State for primary lithium battery
transportation.................................................................................................... Appendix 4 - 6
Appendix 4-2-1 Outline of regulation ................................................................................. Appendix 4 - 6
Appendix 4-2-2 Target products ........................................................................................ Appendix 4 - 6
Appendix 4-2-3 Handling by user....................................................................................... Appendix 4 - 6
Appendix 4-2-4 Reference ................................................................................................. Appendix 4 - 6
Appendix 4-3 Example of hazardous goods declaration list ................................................... Appendix 4 - 7
Appendix 5 Compliance with Restrictions in China
...................................................Appendix 5 - 1
Appendix 5-1 Compliance with China CCC certification system............................................. Appendix 5 - 2
Appendix 5-1-1 Outline of China CCC certification system ............................................... Appendix 5 - 2
Appendix 5-1-2 First catalogue of products subject to compulsory product certification ... Appendix 5 - 3
Appendix 5-1-3 Precautions for shipping products ............................................................ Appendix 5 - 4
Appendix 5-1-4 Application for exemption ......................................................................... Appendix 5 - 4
Appendix 5-1-5 Mitsubishi NC product subject to/not subject to CCC certification............ Appendix 5 - 6
Appendix 5-2 Response to the China environment restrictions .............................................. Appendix 5 - 7
Appendix 5-2-1 Outline of the law on the pollution prevention and control for electronic
information products................................................................................. Appendix 5 - 7
Appendix 5-2-2 Response to the drive product for Mitsubishi NC ..................................... Appendix 5 - 7
Appendix 5-2-3 Indication based on “Pollution suppression marking request for electronic information
product” .................................................................................................... Appendix 5 - 8
ઃ㍳
1
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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 - 4
1-2-1 Servomotor type ................................................................................... 1 - 4
1-2-2 Drive unit type....................................................................................... 1 - 5
1-2-3 Spindle motor type................................................................................ 1 - 6
1-2-4 AC reactor type..................................................................................... 1 - 6
1 - 1
1 - 1
MITSUBISHI CNC
CN2L
CN2M
CN2S
3-phase 200VAC
power supply
From NC
1-axis
servo drive unit
(MDS-D-V1)
3-axis
servo drive unit
(MDS-DM-V3)
Spindle
drive unit
(MDS-D-SP)
Power supply
unit
(MDS-D-CV)
Built in cell battery
for servo drive unit
or
option battery
CN2
CN2
CN4
CN3
CN3
CN20
Optical
communication
cable
Brake
connector
Battery cable
Power supply
communication
cable
L+
L-
Power
connector
To 2nd, 3rd and
4th axis servo
The circuit of external
power supply or
dynamic brake unit (for
large capacity), etc is
required.
Spindle detector cable
< Motor side PLG cable >
Spindle detector cable
< Spindle side detector cable >
Power cable (*Only connector is supplied.)
Brake cable (*Only connector is supplied.)
Servo detector cable
< Motor side detector cable >
Brake connector
Power connector
Servomotor
Spindle side detector
Spindle motor
Power cable (*Only connector is supplied.)
Power supply communication connector
<Connector for contactor control output /
external emergency stop>
Circuit protector or
protection fuse
(Note) Prepared by user.
Contactor
(Note) Prepared
by user.
AC reactor
(D-AL)
Circuit protector
(Note) Prepared
by user.
< Built in cell battery >
<Option battery>
Cell battery built in drive unit
(ER6V-C119B)
Battery unit
(MDS-A-BT)
Battery case
(MDS-BTCASE+A6BAT)
Battery unit
(FCU6-BTBOX-36)
Optical
communication
cable
Power
connector
1 Introduction
1-1 Drive system configuration
1-1-1 System configuration
<MDS-DM-V3 Series>
1 - 2
<MDS-DM-SPV2/SPV3 Series>
Power
connector
From NC
Optical communication
cable
Power
connector
Spindle side
detector
Spindle motor
Servomotor
Contactor
(Note) Prepared
by user.
AC reactor
(D-AL-18.5K)
Circuit protector
(Note) Prepared
by user.
3-phase 200VAC
power supply
Spindle detector cable
< Spindle side detector cable >
To servo for
M/S-axis
To servo for
M/S-axis
Spindle detector cable
< Motor side PLG cable >
Built in cell battery
Cell battery built in drive unit
(ER6V-C119B)
RA circuit for contactor drive
(Note) Prepared by user.
RA circuit for motor brake
(Note) Prepared by user.
24V stabilized power supply
(Note) Prepared by user.
Brake connector
Power connector
Servo detector cable
<Motor side detector cable>
Brake cable
䋨
*Only connector is supplied
䋩
㪧㫆㫎㪼㫉㩷㪺㪸㪹㫃㪼
䋨㪁㪦㫅㫃㫐㩷㪺㫆㫅㫅㪼㪺㫋㫆㫉㩷
㩷㩷㩷㩷㫀㫊㩷㫊㫌㫇㫇㫃㫀㪼㪻䋩
MDS-DM Series Specifications Manual
1-1 Drive system configuration
1 - 3
MITSUBISHI CNC
Serial No.
Rated rotation speed
Motor type
Rated output
MITSUBISHI
SER.No.
xxxxxxxx*
DATE
04-1
3000r/min
IP65 CI.F xx kg
OUTPUT x.xkW IEC34-1 1994
INPUT 3AC 155 V xxx A
MADE IN JAPAN
D
Detector type
(1) Rated output · Maximum rotation speed (3) Shaf t end struc ture
4) Detector spec ification
Symbol Rated output
Max imum r o ta ti on
speed
Flange size Symbol Shaft end s tructure Symbol Detector Resolution Detector type
75 0.75 kW 5000 r/min غ90 mm S Straight A48 260,000 p/rev OSA18
105 1.0 kW 5000 r/min غ90 mm T Taper A51 1,000,000 p/rev OSA 105S5
54 0.5 kW 4000 r/minغ130 mm (Note) "Taper" is available
104 1.0 kW 4000 r/minغ130 mm f or the motor w hose flange size
154 1.5 kW 4000 r/minغ130 mm is 䂔90 mm o r 䂔130mm.
224 2.2 kW 4000 r/minغ130 mm
204 2.0 kW 4000 r/minغ176 mm (2) Magnetic brake
Symbol Magnetic brake
223 2.2 kW 3000 r/minغ130 mm None None
303 3.3 kW 3000 r/minغ176 mm B With magnetic brakes
142 1.4 kW 2000 r/minغ130 mm
302 3.0 kW 2000 r/minغ176 mm
position
HF (1) (2) (3)
(4)
(1) Rated output · Maximum rotation speed (2) Magnetic brake
Symbol Detector
Max imu m r o ta tio n
speed
Flange size Symbol Magnetic brake
23 0.2 kW 6000 r/min غ60 mm None None
43 0.4 kW 6000 r /min غ60 mm B With magnetic brakes
73 0.75 kW 6000 r/minغ80 mm
HF-KP
(1) (2) JW04-S6
1 Introduction
1-2 Explanation of type
1-2-1 Servomotor type
(1) HF Series
123 1.2 kW 3000 r/minغ130 mm
AC SERVO MOTOR
HFxxxBS
MITSUBISHI ELECTRIC
MADE IN JAPAN
Motor rating nameplate
00395298-01
ROTARY DETECTOR OSA166S5
SER. X X X X X X X X X X X DATE 0401
MITSUBISHI ELECTRIC CORP.
A2
Detector rating nameplate
Absolute
Serial No.
(2) HF-KP Series
1 - 4
1-2-2 Drive unit type
㪤㪠㪫㪪㪬㪙㪠㪪㪟㪠
㪤㪠㪫㪪㪬㪙㪠㪪㪟㪠㩷㪜㪣㪜㪚㪫㪩㪠㪚㩷 㪚㪦㪩㪧㪦㪩㪘㪫㪠㪦㪥㩷 㩷 㪡㪘㪧㪘㪥
*,#58)%(*㩷
Type
Input/output conditions
Software No.
Output
Serial No.
Manual No.
Rating nameplate
MDS-DM-
75 105 54 104 154 123 223 142 302 23 43 73
5VCNNVQTSWG
(N㨯m)
#ZKU
٨٨ ٨ ٨ ٨٨٨
٨٨ ٨ ٨ ٨٨٨
٨٨ ٨ ٨ ٨٨٨
٨٨٨٨غ٨٨٨٨ 䃂
٨٨٨٨غ٨٤٨٤ 䃂
٨٨٨٨غ٨٤٨٤ 䃂
٨
Indic ates the compati ble motor f or each ser vo dri ve unit.
٤
Indic ates the motor that c an be combine with the dr ive unit al though the s tall torq ue is l imited.
غ
Indic ates the motor that c an be combine with the dr ive unit al though the s tall torq ue and maximum tor que ar e li mited.
(N ote) T he val ues in the par entheses ar e specif icati ons when connecti ng with the M /S-axis of the MD S-DM -V3- 404040.
L
7.0
(1) Unit Type
MDS-DM-
HF
غ
2.0 3.0 2.9
Compatible
motor type
Unit width 5.9
12
(10. 0)
7.0
Unit nominal
maximum
current
11.0
HF-KP
غ
0.64 1.3 5.1
20
(15.6)
S
60mm
V3-404040
V3-202020 20+20+ 20A
40+40+ 40A M
S
M
L
(1)
㪤㪠㪫㪪㪬㪙㪠㪪㪟㪠
㪤㪠㪫㪪㪬㪙㪠㪪㪟㪠㩷㪜㪣㪜㪚㪫㪩㪠㪚㩷㪚 㪦㪩㪧㪦㪩㪘㪫㪠㪦㪥㩷 㩷 㩷 㩷 㩷 㪡㪘㪧㪘㪥㩷
Type
Input/output conditions
Output
Serial No.
Manual No.
Rating nameplate
54 104 154 224 204 223 303 302
Stal l tor que
(N㨯m)
SPV3- 10080 80+80+ 80A LMS
٨٨٨٨٨٨٨٨
SPV3- 16080 80+80+ 80A LMS
٨٨٨٨٨٨٨٨
SPV3- 20080 80+80+ 80A
٨٨٨٨٨٨٨٨
SPV2- 10080 80+80A LM
٨٨٨٨٨٨٨٨
SPV2- 16080 80+80A LM
٨٨٨٨٨٨٨٨
SPV2- 20080 80+80A LM
٨٨٨٨٨٨٨٨
٨
Indic ates the compati ble motor for each s ervo drive unit.
LMS
260mm
20.012.0 13. 7
Unit nominal
maximum
current
12.09.0
(1) Unit Type
MDS-DM-
22.5
Compatible
motor type
2.9 5.9
Unit
wid th
(1)
(1) 3-axis integrated servo drive unit
㪫㪰㪧㪜㩷
Applicable standard
219'4M9
+0276#&%8
#2*8*\
176276#2*8*\
/#07#.+$
599#*98'4
5'4+#.,#58)%('
MDS-DM Series Specifications Manual
1-2 Explanation of type
㪪㪜㪩㪭㪦㩷㪛㪩㪠㪭㪜㩷㪬㪥㪠㪫
㪤㪛㪪㪛㪤㪭㪊㪄㪋㪇㪋㪇㪋㪇㩷
(2) Multi axis integrated servo drive unit
Applicable standard
Software No.
㪫㪰㪧㪜㩷
219'4%8M952M958M9:
+0276#2*8*Z
17627652#2*8*\
17627658#:2*8*\
'0/#07#.+$
59###*98'4
5'4+#.,#4)4'
㪤㪛㪪㪛㪤㪪㪧㪭㪊㪄㪉㪇㪇㪏㪇㩷
MDS- DM -
Axis
㪤㪬㪣㪫㪠㩷㪘㪯㪠㪪㩷㪬㪥㪠㪫
1 - 5
MITSUBISHI CNC
MITSUBISHI AC SPINDLE MOTOR
TYPE
SJ–V5. 5–01T
SI CONT 4 POLE 3 PHASES
kW r/min
A(~)
max
WIND CONNECTU
3.7 1500-6000 25 PO WER FAC TO R 8 2 %
2.8 8000 17
S2 30 min S3 50 %
MOTOR INPUT(~)
137 - 162 V
kW r/min
A(~)
max
5.5 1500-6000 33
AMP INPUT(~)
200-230V 50/60Hz
4.1 8000 23 INSULATION CLASS F
AMB TEMP. 0-40° C
SERIAL
DATE
FRAME D90F WEIGHT 49 kg I P 44
IEC 34-1 1994 SPEC No.RSV00023*
MITSUBISHI ELECTRIC CORPORATION
A19103-01
MADE IN JAPAN
995291-01
For MDS-D/DM mot o r
(1) Motor series (2) Short time rated output (4) Special specifications
Sy mbol Mot or series Sy mbol Short time rated output Sy mbol Special specif ications
Compact medium 5.5 5.5 kW None None
to large c apacity 7.5 7.5 kW Z High-s peed
VS Hollow shaft 11 11 kW
15 15 kW
(3) Specification code
The SJ-V Series is indicated w ith a specification
code (01 to 99).
(Note) For the short time rated output of the w ide
range constant output, high-speed and
hollow shaft series, ref er to the specifications
of each spindle motor.
(Note) The built-in spindle motor is available by special order.
V
SJ- (1) (2) (3)(4) T
Type
Nameplate
Top surface of AC reactor
D-AL-18.5K
Type Capacity Compatible unit
AL - D - 18.5K 18.5kW MDS - DM - SPV2/SPV 3 Series
1 Introduction
1-2-3 Spindle motor type
(1) Standard spindle motor series
Rating nameplate
1-2-4 AC reactor type
1 - 6
ઃ㍳
2
┨
Specifications
Contents
2
2-1 Servomotor ................................................................................................... 2 - 2
2-1-1 Specifications list .................................................................................. 2 - 2
2-1-2 Torque characteristics .......................................................................... 2 - 4
2-2 Spindle motor................................................................................................ 2 - 6
2-2-1 Specifications ....................................................................................... 2 - 6
2-2-2 Output characteristics ........................................................................... 2 - 9
2-3 Drive unit..................................................................................................... 2 - 11
2-3-1 Installation environment conditions..................................................... 2 - 11
2-3-2 Multi axis drive unit ............................................................................. 2 - 11
2-3-3 AC reactor .......................................................................................... 2 - 13
2-3-4 D/A output specifications (Servo) ....................................................... 2 - 14
2-3-5 D/A output specifications (Spindle)..................................................... 2 - 17
2-3-6 Explanation of each part ..................................................................... 2 - 20
2 - 1
2 - 1
MITSUBISHI CNC
㩷
2 Specifications
2-1 Servomotor
2-1-1 Specifications list
<HF Series>
HF Series
Servomotor type
HF75 HF105 HF54 HF104 HF154 HF224 HF204 HF123 HF223 HF303 HF142 HF302
Compatible drive
unit type
Continuous
characteristics
Rated rotation speed [r/min] 4000 3000 2000
Maximum rotation speed
[r/min]
Maximum current [A] 14.0 15.5 16.8 29.0 52.0 29.0 57.0 57.0 15.5 29.0 48.0 15.5 29.0
Maximum torque [N•m] 8.0 11.0 13.0 23.3 42.0 23.7 46.5 47.0 17.0 32.0 64.0 26.5 50.0
Power rate at continuous
rated torque [kW/s]
Motor inertia [kg•cm2]
Motor inertia with brake
[kg•cm
Maximum motor shaft
conversion load inertia ratio
Motor side detector
Structure Fully closed, self-cooling (Protection method: P67) (Note3)
Environment
Weight Without / with brake
[kg]
Armature insulation class
MDS-DM-V3-
MDS-DMSPV2/SPV3-
Rated output
[kW]
Rated current [A] 2.8 3.6 1.8 3.6 5.8 5.8 8.5 6.8 5.2
Rated torque
[N•m]
Stall current [A] 3.2 4.6 3.2 6.6 11.0 8.5 14.5 14.6 6.4
Stall torque
[N•m]
2
]
Ambient
temperature
Ambient
humidity
Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude
Vibration
202020
404040
202020
404040
- - xxx80 xxx80 xxx80 - xxx80 xxx80 - xxx80 xxx80 - xxx80
0.75 1.0 0.5 1.0 1.5 1.5 2.2 2.0 1.2
1.8 2.4 1.6 3.2 4.8 4.8 7.0 6.4 5.7
2.0 3.0 2.9 5.9 9.0 7.0 12.0 13.7 7.0
5000 4000 3000 2000
12.3 11.2 4.1 8.4 12.7 12.7 20.7 10.6 27.3 46.5 27.3 25.2 27.3
2.6 5.1 6.1 11.9 17.8 17.8 23.7 38.3 11.9 23.7 75.0 17.8 75.0
2.8 5.3 8.3 14.1 20.0 20.0 25.9 48.0 14.1 25.9 84.7 20.0 84.7
2.5/
3.9
404040 404040 - 404040 - -
High-speed, high-accuracy machine: 3 times or less of motor inertia
General machine tool (interpolation axis): 5 times or less of motor inertia
General machine (non-interpolation axis): 7 times or less of motor inertia
4.3/
5.7
4.8/
6.8
6.5/
(Note 1) The above characteristics values are representative values. The maximum current and maximum
torque are the values when combined with the drive unit.
(Note 2) Use the HF motor in combination with the MDS-DM Series drive unit compatible with the 200VAC input.
This motor is not compatible with the conventional MDS-B/C1/CH Series.
(Note 3) The shaft-through portion is excluded.
(Note 4) The values in the parentheses are specifications when connecting with the M/S-axis of the
MDS-DM-V3-404040.
ABS specifications: HFغ -A51 / -A48
202020
404040
Resolution per motor revolution
A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev
Operation: 0 to 40 (with no freezing),
Storage: -15 to 70 (with no freezing)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
X:24.5m/s
8.5
8.3/
10.3
2
(2.5G) Y:24.5m/s2(2.5G)
8.3/
10.0/
12.0
12.0/
18.0
10.3
6.5/
8.5
Class F
404040 -
2.2
(2.1)
9.0
(8.5)
10.5
(10.0)
10.2
(8.5)
12.0
(10.0)
10.0/
19.0/
12.0
202020
404040
3.0 1.4
10.7 5.2
14.3 6.7
15.8 6.4
22.5 11.0
8.3/
25.0
10.3
404040
3.0
(2.2)
10.9
(8.5)
14.3
(10.6)
10.9
(8.5)
20.0
(15.6)
19.0/
25.0
2 - 2
MDS-DM Series Specifications Manual
2-1 Servomotor
< HF-KP Series >
HF-KP Series
Servomotor type
Compatible
drive unit
type
Continuous
characteristics
Rated rotation speed [r/min] 3000
Maximum rotation speed [r/min] 6000
Maximum current [A] 4.3 8.5 15.5
Maximum torque [Nm] 1.9 3.8 7.2
Power rate at continuous
rated torque [kW/s]
Motor inertia [kg•cm2]
Motor inertia with brake [kg•cm2]
Maximum motor shaft conversion load
inertia ratio
Motor side detector Resolution per motor revolution: 260,000 pulse/rev
Structure Fully closed, self-cooling (Protection method: P65) (Note3)
Environment
Weight Without / with brake [kg] 1.2/1.8 1.7/2.3 2.9/4.1
Armature insulation class Class B
MDS-DM-V3- 202020 202020 202020
MDS-DM-SPV2/SPV3- ---
Rated output [kW] 0.2 0.4 0.75
Rated current [A] 1.4 2.7 5.2
Rated torque [N•m] 0.64 1.3 2.4
Stall current [A] 1.4 2.7 5.2
Stall torque [N•m] 0.64 1.3 2.4
Ambient temperature
Ambient humidity
Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude
Vibration
HF-KP23JW04-S6 HF-KP43JW04-S6 HF-KP73JW04-S6
16.9 38.6 39.9
0.23 0.42 1.43
0.31 0.50 1.63
General machine (non-interpolation axis): 15 times or less of motor inertia
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
Absolute position standard
Operation: 0 to 40 (with no freezing),
Storage: -15 to 70 (with no freezing)
2
X,Y: 49m/s
(5G)
(Note 1) The above characteristics values are representative values. The maximum current and maximum
torque are the values when combined with the drive unit.
(Note 2) Use the HF-KP motor in combination with the MDS-DM Series drive unit compatible with the 200VAC
input.
This motor is not compatible with the conventional MDS-B/C1/CH Series.
(Note 3) The shaft-through portion is excluded.
2 - 3
MITSUBISHI CNC
Continuous
operation range
Continuous operation range
Short time operation range
Short time operation range
2 Specifications
2-1-2 Torque characteristics
(1) HF Series
10
7.5
m]
.
5
Torque [N
2.5
0
0 2000 5000
25
20
m]
.
15
10
Torque [N
5
Continuous
operation range
0
0 2000 4000
[ HF75 ]
Short time operation range
Continuous operation range
Rotation speed [r/min]
[ HF104 ]
Short time operation range
Rotation speed [r/min]
4000
12
9
m]
.
6
Torque [N
3
0
0 2000 5000
50
40
m]
.
30
20
Torque [N
10
Continuous
operation range
0
0 2000 4000
[ HF105 ]
Short time operation range
Continuous operation range
Rotation speed [r/min]
[ HF154 ]
Short time operation range
Rotation speed [r/min]
4000
(Note2)
15
12
m]
.
9
6
Torque [N
3
0
0
50
40
30
[N㨯m]
20
Torpue
10
0
0 2000 4000
[ HF54 ]
Short time operation range
2000 4000
Rotation speed [r/min]
[ HF224 ]
Short time operation range
Continuous
operation range
Rotation speed [r/min]
50
40
m]
30
.
20
Torque [N
10
0
0 2000 4000
80
60
[N㨯O?
40
Torpue
20
000
[ HF204 ]
Short time operation range
Continuous operation range
Rotation speed [r/min]
[ HF303 ]
Continuous
operation range
Rotation speed [r/min]
[ HF123 ]
20
15
[N㨯m]
10
Torpue
=0㨯O?
Torpue
Short time operation range
5
Continuous
operation range
0
0 1000 3000
Rotation speed [r/min]
30
6
Continuous operation range
02000
Rotation speed [r/min]
2000
[ HF142 ]
40
[ HF223 ]
(Note2)
30
[N㨯m]
20
Torpue
10
[N㨯m]
Torpue
20
Short time operation range
Continuous
operation range
0
0 1000 3000
Rotation speed [r/min]
60
40
Short time operation range
0
0 1000 2000
Rotation speed [r/min]
2000
[ HF302 ]
(Note2)
2 - 4
(Note 1) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is 200VAC
or less, the short time operation range is limited.
(Note 2) Each breake line indicates the case in connecting the following drive unit or axis.
HF154: MDS-DM-V3-404040
HF223, HF302: M/S-axis of MDS-DM-V3-404040
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