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

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



COM (24VDC

Control output signal



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.

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

ઃ㍳

┨

Contents

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

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

option battery

CN2

CN4

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 >

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

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

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

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.

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

*,#58)%(*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

5VCNNVQTSWG

(N㨯m)

#ZKU

٨٨ ٨ ٨ ٨٨٨

٨٨٨٨غ٨٨٨٨ 䃂

٨٨٨٨غ٨٤٨٤ 䃂

Indic ates the compati ble motor f or each ser vo dri ve unit.

Indic ates the motor that c an be combine with the dr ive unit al though the s tall torq ue is l imited.

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.

7.0

(1) Unit Type MDS-DM-

2.0 3.0 2.9

Compatible

motor type

Unit width 5.9

(10. 0)

7.0

Unit nominal

maximum

current

11.0

HF-KP

0.64 1.3 5.1

(15.6)

60mm

V3-404040

V3-202020 20+20+ 20A

40+40+ 40A M

(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

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

219'4M9 +0276#&%8 #2*8*\ 176276#2*8*\ /#07#.+$

599#*98'4 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%8M952M958M9: +0276#2*8*Z 17627652#2*8*\ 17627658#:2*8*\ '0/#07#.+$

59###*98'4 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.

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

ઃ㍳

┨

Specifications

Contents

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

MITSUBISHI CNC

㩷

2 Specifications

2-1 Servomotor

2-1-1 Specifications list

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]

]

Ambient temperature

Ambient humidity

Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust

Altitude

Vibration

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

(2.5G) 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)

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

Short time operation range

2 Specifications

2-1-2 Torque characteristics

(1) HF Series

7.5



Torque [N

2.5

0 2000 5000



10

Torque [N

Continuous operation range

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



Torque [N

0 2000 5000



Torque [N

Continuous operation range

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)

Torque [N

[N㨯m]

Torpue

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]

Torque [N

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 ]

[N㨯m]

Torpue



=0㨯O?



Torpue

Short time operation range

Continuous operation range

0 1000 3000

Rotation speed [r/min]

30







6

Continuous operation range



02000

Rotation speed [r/min]

2000

[ HF142 ]





[ HF223 ]

(Note2)

[N㨯m]

Torpue

[N㨯m]

Torpue

Short time operation range

Continuous operation range

0 1000 3000

Rotation speed [r/min]

Short time operation range

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

(2) HF-KP Series

MDS-DM Series Specifications Manual

2-1 Servomotor

Torque [N

[ HF-KP23JW04-S6 ]

2.0

1.5

1.0

0.5

Short time operation range

Continuous operation range

0 3000 6000

Rotation speed [r/min]

Torque [N

[HF-KP43JW04-S6 ]

4.0

3.0

2.0

1.0

Short time operation range

Continuous operation range

0 3000 6000

Rotation speed [r/min]

Torque [N

[ HF-KP73JW04-S6 ]

8.0

6.0

4.0

2.0

Short time operation range

Continuous operation range

0 3000 6000

Rotation speed [r/min]

(Note) 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.

2 - 5

MITSUBISHI CNC

2 Specifications

2-2 Spindle motor

2-2-1 Specifications

Base rotation speed

Spindle motor type

5.5-01T 7.5-01T 11-01T 15-01T

Compatible spindle drive unit type MDS-DM-SPV2/SPV3-

Output capacity

Base rotation speed [r/min] 1500 Maximum rotation speed [r/min] 8000 6000 Frame No. D90 A112 B112 A160 Continuous rated torque [N•m] 23.5 35.0 47.7 70.0

GD2[kg•m2]

Inertia [kg•m2] Tolerable radial load [N] 1470 1960 2940

Cooling fan

Environment

Weight [kg] 49 60 70 110 Insulation Class F

Continuous rating [kW] 3.7 5.5 7.5 11 30-minute rating

50%ED rating [kW]

Input voltage Single-phase 200V 3-phase 200V Maximum power consumption

Ambient temperature

Ambient humidity Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation) Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust

Altitude

10080 16080 20080

5.5 7.5 11 15

0.059 0.098 0.12 0.23

0.015 0.025 0.03 0.06

42W 40W 63W

Operation: 0 to 40  (with no freezing), Storage: -20  to 65  (with no freezing)

Operation: 1000 meters or less above sea level, Storage: 1000 meters or less above sea level,

(Note 1) The rated output is guaranteed at the rated input voltage (200/220/230VAC) to MDS-DM-SPV2/SPV3.

If the input voltage fluctuates and drops below 200VAC, the rated output may not be attained. (Note 2) The 50%ED rating applies for a 10-minute cycle time consisting of ON for five minutes and OFF for five

minutes. (Note 3) The tolerable radial load is the value calculated at the center of output shaft. (Note 4) The protection level is IP44.

1150r/min series, 1500r/min series

SJ-V

Transportation: 10000 meters or less above sea level

2 - 6

MDS-DM Series Specifications Manual

2-2 Spindle motor

Spindle motor type

11-01T 11-09T

Compatible spindle drive unit type MDS-DM-SPV2/SPV3-

Output capacity

Base rotation speed [r/min] 750 Maximum rotation speed [r/min] 6000 Frame No. B112 A160 Continuous rated torque [N•m] 47.1 70.0

GD2[kg•m2]

Inertia [kg•m2] Tolerable radial load [N] 1960 2940

Cooling fan

Environment

Weight [kg] 70 110 Insulation Class F

Continuous rating [kW] 3.7 5.5 30-minute rating

50%ED rating [kW]

Input voltage 3-phase 200V Maximum power consumption

Ambient temperature

Altitude

Operation: 0 to 40  (with no freezing), Storage: -20  to 65  (with no freezing)

Operation: 1000 meters or less above sea level, Storage: 1000 meters or less above sea level

5.5 7.5

0.12 0.23

0.03 0.06

40W 63W

Wide range constant output series

SJ-V

16080

Transportation: 10000 meters or less above sea level

(Note 1) The rated output is guaranteed at the rated input voltage (200/220/230VAC) to MDS-DM-SPV2/SPV3.

If the input voltage fluctuates and drops below 200VAC, the rated output may not be attained.

(Note 2) The 50%ED rating applies for a 10-minute cycle time consisting of ON for five minutes and OFF for five

minutes. (Note 3) The tolerable radial load is the value calculated at the center of output shaft. (Note 4) The protection level is IP44.

Spindle motor type

7.5-03ZT 11-06ZT

Compatible spindle drive unit type MDS-DM-SPV2/SPV3-

Output capacity

Base rotation speed [r/min] 1500 Maximum rotation speed [r/min] 12000 Frame No. A112 Continuous rated torque [N•m] 35.0 35.0

GD2[kg•m2]

Inertia [kg•m2] Tolerable radial load [N] 980

Cooling fan

Environment

Weight [kg] 60 Insulation Class F

Continuous rating [kW] 5.5 5.5 30-minute rating 50%ED rating [kW]

Input voltage 3-phase 200V Maximum power consumption

Ambient temperature

Altitude

Operation: 0 to 40  (with no freezing), Storage: -20  to 65  (with no freezing)

Operation: 1000 meters or less above sea level, Storage: 1000 meters or less above sea level

16080 20080

7.5 7.5

0.098 0.098

0.025 0.025

Transportation: 10000 meters or less above sea level

High-speed series

SJ-V

40W

(Note 1) The rated output is guaranteed at the rated input voltage (200/220/230VAC) to MDS-DM-SPV2/SPV3.

minutes. (Note 3) The tolerable radial load is the value calculated at the center of output shaft. (Note 4) The protection level is IP44.

2 - 7

MITSUBISHI CNC

2 Specifications

Spindle motor type

Compatible drive unit type MDS-DM-SPV2/SPV3-

Output capacity

Base rotation speed [r/min] 1500 Maximum rotation speed [r/min] 12000 Frame No. A112 Continuous rated torque [N•m] 35.0

GD2[kg•m2]

Inertia [kg•m2] Tolerable radial load [N] 0 (Note 3)

Cooling fan

Environment

Weight [kg] 65 Insulation Class F

Continuous rating [kW] 5.5 30-minute rating

50%ED rating [kW]

Input voltage Single-phase 200V Maximum power consumption

Ambient temperature

Ambient humidity

Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust

Altitude

Operation: 0 to 40  (with no freezing), Storage: -20  to 65  (with no freezing)

Operation: 90%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: 1000 meters or less above sea level

Transportation: 10000 meters or less above sea level

Hollow shaft series

SJ-VS

7.5-03ZT

16080

7.5

0.099

0.025

40W

(Note 1) The rated output is guaranteed at the rated input voltage (200 to 230VAC) to MDS-DM-SPV2/SPV3. (Note 2) The 50%ED rating applies for a 10-minute cycle time consisting of ON for five minutes and OFF for five

minutes.

(Note 3) Do not apply a radial load.

2 - 8

2-2-2 Output characteristics

0 1500 6000

2.8

4.1

3.7

5.5

8000 0 1500 6000

0

4.1

5.5

7.5

8000

0 1500 4500

5.6

8.3

7.5

6000

0 1500 4500

0

8.3

6000

Rotation speed [r/min]

Output [kW]

Rotation speed [r/min]

Output [kW]

0 1500

4.6

5.5

6.3

7.5

Rotation speed [r/min]

Output [kW]

0 1500

5.5

7.5



12000

Rotation speed [r/min]

[Base rotation speed 1500r/min series SJ-V5.5-01T] [Base rotation speed 1500r/min series SJ-V7.5-01T]

MDS-DM Series Specifications Manual

2-2 Spindle motor

Output [kW]

30-minute rating

Continuous rating

Output [kW]

30-minute rating

Continuous rating

Rotation speed [r/min]

[Base rotation speed 1500r/min series SJ-V11-01T] [Base rotation speed 1500r/min series SJ-V15-01T]

30-minute rating

Continuous rating

30-minute rating

Continuous rating

[Wide range constant output series SJ-V11-01T]

5.5

3.7

Output [kW]

0 750

[High speed series SJ-V7.5-03ZT]

30-minute rating

Continuous rating

Rotation speed [r/min]

30-minute rating

Continuous rating

10000

6000

[Wide range constant output series SJ-V11-09T]

7.5 30-minute rating

5.5

Output [kW]

0

0 750

Continuous rating

Rotation speed [r/min]

[High speed series SJ-V11-06ZT]

30-minute rating

Output [kW]

Continuous rating

6000

2 - 9

MITSUBISHI CNC

0 1500 10000

4.6

5.5

6.3

7.5

12000

Rotation speed [r/min]

Output [kW]

2 Specifications

[Hollow shaft series SJ-VS7.5-03ZT]

30-minute rating

Continuous rating

2 - 10

2-3 Drive unit

2-3-1 Installation environment conditions

Common installation environment conditions for drive unit are shown below.

MDS-DM Series Specifications Manual

2-3 Drive unit

Environment

Ambient temperature

Ambient humidity

Atmosphere

Altitude Operation/Storage: 1000 meters or less above sea level, Transportation: 13000 meters or less above sea level

Vibration/impact

Operation: 0 to 55  (with no freezing), Storage / Transportation: -15  to 70  (with no freezing)

With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles

Operation: 90%RH or less (with no dew condensation)

Storage / Transportation: 90%RH or less (with no dew condensation)

Indoors (no direct sunlight)

(0.5G) / 49m/s2 (5G)

4.9m/s

2-3-2 Multi axis drive unit

(1) 3-axis integrated servo drive unit

3-axis integrated servo drive unit MDS-DM-V3 Series

Servo drive unit type MDS-DM-V3-

Nominal maximum current (peak) [A] 20 40

Output

Input

Control power

Earth leakage current [mA] 1 (Max. 2)

Control method Sine wave PWM control method

Braking

External analog output 0 to +5V, 2ch (data for various adjustments)

Structure Protection type (Protection method: IP20 [over all] / IP00 [Terminal block TE1])

Cooling method Forced wind cooling

Weight [kg] 3.8

Heat radiated at rated output [W] 40 58

Noise Less than 55dB

Rated voltage [V] AC155

Rated current [A] 4.6 7.8

Rated voltage [V] DC270 to 311

Rated current [A] 77

Voltage [V] AC200 (50Hz) /AC200 to 230 (60Hz) Power fluctuation rate within +10%, -15%

Frequency [Hz]

Current [A] Max. 0.2

Rush current [A] Max. 30

Rush conductivity time [ms]

Dynamic brakes Built-in

202020 404040

ޓ50/60 Frequency fluctuation within r 3%

Max. 6

Regenerative braking and dynamic brakes

2 - 11

MITSUBISHI CNC

2 Specifications

(2) Multi axis integrated drive unit

Multi axis integrated drive unit MDS-DM-SPV2/SPV3 Series

Drive unit type MDS-DM-

Nominal maximum current (at peak of spindle section) [A]

Nominal maximum current (at peak of servo section) [A]

Rated voltage [V] AC155

Output

Input

Control power

Earth leakage current [mA] 9/Max.21 (Details: Spindle 6/Max.15, Servo per one axis 1/Max.2)

Control method Sine wave PWM control method

Braking

External analog output 0 to +5V,2ch (data for various adjustments)

Structure Protection type (Protection method: IP20 [over all] / IP00 [Terminal block TE1])

Cooling method Forced wind cooling

Weight [kg] 15 14.5

Heat radiated at rated output [W] 730 800 990 630 700 895

Noise Less than 55dB

Rated current (spindle axis) [A]

Rated current (servo) [A] 15.8 15.8

Rated voltage [V] AC200 (50Hz) /AC200 to 230 (60Hz) Power fluctuation rate within +10%, -15%

Rated current [A] 65

Voltage [V]

Frequency [Hz]

Current [A] Max. 4.0

Rush current [A] Max. 10

Rush conductivity time [ms]

Dynamic brakes Built-in

10080 16080 20080 10080 16080 20080

100 160 200 100 160 200

26.0 37.0 49.0 26.0 37.0 49.0

SPV3- SPV2-

80 80

DC24 r 10%

50/60 Frequency fluctuation within r 3%

Max. 100

Regenerative braking and dynamic brakes (only regenerative braking for spindle)

2 - 12

2-3-3 AC reactor

MDS-DM Series Specifications Manual

2-3 Drive unit

AC reactor model D-AL-18.5K Compatible power supply unit type

MDS-DM-SPV2/SPV3Rated capacity [kW] 18.5

Rated voltage [V]

Rated current [A] 66

Frequency [Hz]

Ambient temperature

Ambient humidity

Environment

Weight [kg] 5.2

Atmosphere

Altitude

Vibration / impact

Storage/Transportation: 80%RH or less (with no dew condensation)

50/60 Frequency fluctuation within r 3%

Operation: -10  to 60  (with no freezing),

Storage/Transportation: -10  to 60  (with no freezing)

Operation: 80%RH or less (with no dew condensation),

With no corrosive gas, inflammable gas, oil mist or dust

Operation/Storage: 1000 meters or less above sea level,

Transportation: 10000 meters or less above sea level

AC reactor

185

200/200㩷㫋㫆㩷230AC

Indoors (no direct sunlight)

9.8m/s

(1G) / 98m/s2 (10G)

2 - 13

MITSUBISHI CNC

Example of D/A output waveform

2 Specifications

2-3-4 D/A output specifications (Servo)

The MDS-DM Series drive unit has a function to D/A output the various control data. The servo adjustment data required for setting the servo parameters to match the machine can be D/A output. Measure using a hi-coder, oscilloscope, etc.

(1) D/A output specifications

CN9 connector

Pin Pin

Name

     



 

M01





         

Name

LGLG



M02

MDS-DM-V3

MDS-DM-SPV2/SPV3



        

Item Explanation No. of channels 2ch Output cycle 0.8ms (min. value) Output precision 12bit Output voltage range 0V to 2.5V (zero) to +5V Output magnification setting -32768% to +32767% (1% scale) Output pin (CN9, CN9B connector) M01 = Pin 9, M02 = Pin 19, LG = Pin 1,11

Others

The D/A output for the 2nd axis or the 3rd axis is also 2ch. When using the 2nd axis or the 3rd

axis, set “-1” for the output data (SV061, SV062) of the axis that is not to be measured.

CN9B connector

PinNamePin

     



 

M01

 

Name

LGLG

M02



2 - 14

When the output data is 0, the offset voltage is 2.5V. If there is an offset voltage, adjust the zero level position in the measuring instrument side.

Speed FB

Current FB

Memory

+5 [V]

+2.5 [V]

0 [V]

+5 [V]

+2.5 [V]

0 [V]

Scroll

MDS-DM Series Specifications Manual

2-3 Drive unit

(2) Output data settings <Standard output>

No. Abbrev. Parameter name Explanation

SV061 DA1NO D/A output channel 1 data No. Input the No. of the data to be output to each D/A output chan-

nel.SV062 DA2NO D/A output channel 2 data No.

No. Output data

-1 D/A output not selected

0 Commanded rotation speed 1000(r/min)/V 0.8ms 1 Motor rotation speed 1000(r/min)/V 0.8ms 2 Torque command Motor stall rated ratio 100%/V 0.8ms 3 Torque feedback Motor stall rated ratio 100%/V 0.8ms 8 Machine vibration frequency 500Hz/V 0.8ms

30 Collision detection estimated torque Motor stall rated ratio 100% 0.8ms

Collision detection disturbance estimated

torque Estimated load inertia ratio

or moving sections gross weight

Disturbance observer estimated distur-

bance torque

50 Position droop

51 Position command

52 Position feedback

Position F Ӡ T 1Ǵm/s/V 1/1000q/s/V Deviation from ideal position

(considering servo tracking delay)

Standard output unit Output cycle

Linear axis Rotary axis

For 2nd axis or 3rd axis drive unit. Set the parameters to the other axes in the drive unit that is not D/A output.

Motor stall rated ratio 100% 0.8ms

100% or 100kg 0.8ms

Motor stall rated ratio 100% 0.8ms

1Ǵm/V 1/1000q/V 1Ǵm/V 1/1000q/V 1Ǵm/V 1/1000q/V

1Ǵm/V 1/1000q/V

0.8ms

60 Position droop 1mm/V

61 Position command 1mm/V

62 Position feedback 1mm/V

Position F Ӡ T Deviation from ideal position

(considering servo tracking delay)

70 Position droop 1m/V

71 Position command 1m/V

72 Position feedback 1m/V

Position F Ӡ T Deviation from ideal position

(considering servo tracking delay)

126 Saw tooth wave 0V to 5V 0.8ms 127 2.5V test data 2.5V 0.8ms

1mm/s/V

1mm/V

1m/s/V

1m/V

1q/V 1q/V 1q/V

1q/s/V

1q/V

1000q/V 1000q/V 1000q/V

1000q/s/V

1000q/V

(*1) The estimated load inertia ratio (unit: 100%) is applied for the rotary motor.

0.8ms

2 - 15

MITSUBISHI CNC

2 Specifications

< Servo control signal>

Servo control input (NC to V3/SPV2/SPV3) Servo control output (V3/SPV2/SPV3 to NC)

No. Details No. Details 16384 Servo control input 1-0 READY ON command 16480 Servo control output 1-0 In READY ON 16385 Servo control input 1-1 Servo ON command 16481 Servo control output 1-1 In servo ON

16388 Servo control input 1-4

16390 Servo control input 1-6

16391 Servo control input 1-7 Alarm reset command 16487 Servo control output 1-7 In alarm

16392 Servo control input 1-8

16409 Servo control input 2-9 Speed monitor command valid 16505 Servo control output 2-9 In speed monitor 16410 Servo control input 2-A In door closed (controller) 16506 Servo control output 2-A In door closed (controller) 16411 Servo control input 2-B In door closed (all drive units) 16507 Servo control output 2-B In door closed (self drive unit)

16416 Servo control input 3-0

Position loop gain changeover command

Excessive error detection width changeover command

Current limit selection command

Control axis detachment command

16484 Servo control output 1-4

16486 Servo control output 1-6

16488 Servo control output 1-8 In current limit selection

16492 Servo control output 1-C In in-position 16493 Servo control output 1-D In current limit 16494 Servo control output 1-E In absolute position data loss 16495 Servo control output 1-F In warning 16496 Servo control output 2-0 Z phase passed

16499 Servo control output 2-3 In zero speed

16503 Servo control output 2-7 In external emergency stop

16512 Servo control output 3-0 In control axis detachment

In position loop gain changeover

In excessive error detection width changeover

2 - 16

MDS-DM Series Specifications Manual

CN9A connector

Pin Pin

Name

LGLG

M01

M02

MDS-DM-SPV2/SPV3

Example of D/A output waveform

2-3 Drive unit

2-3-5 D/A output specifications (Spindle)

The MDS-DM Series drive unit has a function to D/A output each control data. The spindle adjustment data required to set the spindle parameters matching the machine can be D/A output. The data can be measured with a hi-corder or oscilloscope, etc.

(1) D/A output specifications

        



Item Explanation

No. of channels 2ch

Output cycle 0.8ms (min. value)

Output precision 12bit

Output voltage range 0V to 2.5V (zero) to +5V

Output magnification setting

Output pin (CN9A connector) M01 = Pin 9, M02 = Pin 19, LG = Pin 1,11

         

r 32768

When the output data is 0, the offset voltage is 2.5V. If there is an offset voltage, adjust the zero level position in the measuring instrument side.

+5 [V]

Speed FB

+2.5 [V]

+5 [V]

Current FB

+2.5 [V]

Memory

Scroll

0 [V]

2 - 17

MITSUBISHI CNC

2 Specifications

(2) Output data settings <Standard output>

No. Abbrev. Parameter name Explanation

SP125 DA1NO D/A output channel 1 data No. Input the No. of the data to be output to each D/A output chan-

No. Output data Output unit for standard setting Output cycle

D/A output stop

-1

Commanded motor rotation speed

Motor rotation speed

Torque current command

Torque current feedback

nel.SP126 DA2NO D/A output channel 2 data No.

1000(r/min)/V 0.8ms 1000(r/min)/V 0.8ms

Short time rated ratio 100%/V 0.8ms Short time rated ratio 100%/V 0.8ms

Disturbance observer estimated disturbance

torque

Position droop

Position command

Position feedback

Position F Ӡ T

Deviation from ideal position

(considering spindle tracking delay)

Position droop

Position command

Position feedback

Position F Ӡ T

Deviation from ideal position

(considering spindle tracking delay)

Position droop

Position command

Position feedback

Position F Ӡ T Deviation from ideal position

(considering spindle tracking delay)

Saw tooth wave

126

2.5V test data output

127

Short time rated torque current value ratio

100%/V

1/1000q/V 1/1000q/V 1/1000q/V

1/1000q/s/V

1/1000q/V

1q/V 1q/V 1q/V

1q/s/V

1q/V

1000q/V 1000q/V 1000q/V

1000q/s/V

1000q/V

0V to 5V 0.8ms

2.5V 0.8ms

0.8ms

2 - 18

MDS-DM Series Specifications Manual

Spindle control input (NC to SPV2/SPV3) Spindle control output (SPV2/SPV3 to NC)

No. Details No. Details 16384 Spindle control input 1-0 READY ON command 16480 Spindle control output 1-0 In ready ON 16385 Spindle control input 1-1 Servo ON command 16481 Spindle control output 1-1 In servo ON

16391 Spindle control input 1-7 Alarm reset command 16487 Spindle control output 1-7 In alarm

16392 Spindle control input 1-8

16393 Spindle control input 1-9

16394 Spindle control input 1-A

Torque limit 1 selection command Torque limit 2 selection command

Torque limit 3 selection command

16488 Spindle control output 1-8 In torque limit 1 selection

16489 Spindle control output 1-9 In torque limit 2 selection

16490 Spindle control output 1-A In torque limit 3 selection

16492 Spindle control output 1-C In in-position

16495 Spindle control output 1-F In warning 16496 Spindle control output 2-0 Z phase passed

16499 Spindle control output 2-3 In zero speed

16503 Spindle control output 2-7 In external emergency stop

2-3 Drive unit

16409 Spindle control input 2-9 Speed monitor command valid 16505 Spindle control output 2-9 In speed monitor 16410 Spindle control input 2-A In door closed (controller) 16506 Spindle control output 2-A In door closed (controller) 16411 Spindle control input 2-B In door closed (all drive units) 16507 Spindle control output 2-B In door closed (self drive unit)

16432 Spindle control input 4-0

16433 Spindle control input 4-1

16434 Spindle control input 4-2

16436 Spindle control input 4-4 Gear changeover command 16532 Spindle control output 4-4 In gear changeover command 16437 Spindle control input 4-5 Gear selection command 1 16533 Spindle control output 4-5 In gear selection 1 16438 Spindle control input 4-6 Gear selection command 2 16534 Spindle control output 4-6 In gear selection 2

16445 Spindle control input 4-D L coil selection command 16541 Spindle control output 4-D In L coil selection

16458 Spindle control input 5-A

16459 Spindle control input 5-B

16460 Spindle control input 5-C

16461 Spindle control input 5-D Zero point re-detection request 16557 Spindle control output 5-D

16462 Spindle control input 5-E Spindle holding force up 16558 Spindle control output 5-E

Spindle control mode selection command 1

Spindle control mode selection command 2 Spindle control mode selection command 3

Phase synchronization suppression command

Minimum excitation rate 2 changeover request Speed gain set 2 changeover request

16528 Spindle control output 4-0

16529 Spindle control output 4-1

16530 Spindle control output 4-2

16545 Spindle control output 5-1 Speed detection

16550 Spindle control output 5-6 In coil changeover

16554 Spindle control output 5-A

16555 Spindle control output 5-B

16556 Spindle control output 5-C In speed gain set 2 selection

16559 Spindle control output 5-F In 2nd in-position

In spindle control mode selection 1

In spindle control mode selection 2 In spindle control mode selection 3

In phase synchronization suppression

In minimum excitation rate 2 selection

Zero point re-detection complete

Spindle holding force up completed

2 - 19

MITSUBISHI CNC

2 Specifications

2-3-6 Explanation of each part

(1) Explanation of each 3-axis integrated servo drive unit part

(1)

(4)

(5)

(8)

(10)

(11)

(12)

(2)

(3)

(9)

(13)

12 12

1 2

(16)

(6)

(7)

(17) (18)

(14)

(15)

(19)

MDS-DM-V3

Bottom view

The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline drawing for details.

Name Description (1) (2) SWL,SWM,SWS --- Axis No. setting switch (L,M,S-axis) (3) SW1 --- Unused axis setting switch (L,M,S-axis) (4) CN1A --- NC or master axis optical communication connector (5) CN1B --- Slave axis optical communication connector

(6) BTA,BTB ---

Control

circuit

(7) BT1 --- For connecting battery built-in drive unit ER6V-C119B (8) CN9 --- Maintenance connector (usually not used) (9) CN4 --- Power supply communication connector

(10) CN2L --- Motor side detector connection connector (L-axis) (11) CN2M --- Motor side detector connection connector (M-axis) (12) CN2S --- Motor side detector connection connector (S-axis) (13) CN20 --- Motor brake/dynamic brake control connector (Key way: X type)

(14)

(15) TE3

Main

(16)

circuit

(17)

(18)

(19) PE

LED --- Unit status indication LED

For connecting converged battery unit Both BTA and BTB are the same function, and they are internally connected each other.

TE2

TE1

L+

LL11 L21

SU, SV, SW,

MU, MV, MW,

LU, LV, LW,

Converter voltage input terminal (DC input)

Control power input terminal (single-phase AC input)

Motor power supply output connector (3-phase AC output)

Grounding terminal Note that TE1 connector is used for the motor grounding.

2 - 20

3-axis servo drive unit MDS-DM-V3-

Type 202020 404040

Unit width (mm) 60

(14) TE2 M6x 16 (15) TE3 M4x 12

(19)

M4x 12

(2) Explanation of each multi axis integrated servo drive unit part

MDS-DM-SPV2/SPV3

(15)

(16)

(2)

(3)

(14)

(1)

(4)

(5)

(8)

(10) (11)

(6)

(7)

(9)

(17)

(18)

(19)

MDS-DM Series Specifications Manual

2-3 Drive unit

12

(12)

(13)

The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline drawing for details.

Name Description

(1)

(2)

(3) CN22 --- Control power input terminal (DC24V) input connector (4) CN9A --- Connector for DIO/analog output (spindle) (5) CN9B --- Connector for DIO/analog output (servo) (6) OPT1A --- NC optical communication connector

Control

(7) CN2SP --- Built-in PLG detector connection connector for spindle

circuit

(8) CN3SP --- Machine side detector connection connector for spindle

(9) CN2L --- Motor side detector connection connector for servo (L-axis) (10) CN2M --- Motor side detector connection connector for servo (M-axis) (11) CN2S --- Motor side detector connection connector for servo (S-axis) (12) BTA --- For connecting converged battery unit (13) BT1 --- For connecting battery built-in drive unit ER6V-C119B (14) CHARGE LAMP --- Converter voltage output charge-discharge status indication LED

(15)

Main

(16) CN31L

circuit

(17) CN31M

(18) CN31S

(19) PE

POWER --- 24V power supply status indication LED

SP1,

SP2,SV1,SV2

TE1

--- Unit status indication LED

L1, L2, L3 Power supply input terminal (3-phase AC output)

U, V, W Motor power output terminal (spindle, 3-phase AC output)

P+, N-

U, V, W,

DC output for unit stopped caused by power failure *Do not wiring during unused state.

Motor power supply output connector (L-axis, 3-phase AC output)

Motor power supply output connector (M-axis, 3-phase AC output)

Motor power supply output connector (S-axis, 3-phase AC output)

Grounding terminal (also including grounding of the spindle motor)

Multi axis integrated drive unit MDS-DM-

Type

Unit width (mm) 260

(15)TE1 M5 x 12

(19)

10080 16080 20080 10080 16080 20080

SPV3- SPV2-

M5 x 8

2 - 21

2 - 22

ઃ㍳

┨

Characteristics

Contents

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

3 - 1

MITSUBISHI CNC

Speed (r/min)

1000

2000

3000

Vibration amplitude

(double-sway width) (



100

200

Servomotor

Acceleration

3 Characteristics

3-1 Servomotor

3-1-1 Environmental conditions

Environment Conditions Ambient temperature Ambient humidity 80% RH or less (with no dew condensation) Storage temperature Storage humidity 90% RH or less (with no dew condensation)

Atmosphere

Altitude

3-1-2 Quakeproof level

0  to +40  (with no freezing)

-15  to +70  (with no freezing)

Indoors (no direct sunlight)

No corrosive gas, inflammable gas, oil mist or dust

Operation / storage: 1000m or less above sea level

Transportation: 10000m or less above sea level

Motor type

HF75, HF105 HF54, HF104, HF154 HF224, HF123, HF223 HF142

HF204, HF303, HF302

HF-KP23, HF-KP43, HF-KP73

Axis direction (X) Direction at right angle to axis (Y)

X:24.5m/s

X:49m/s

(2.5G) or less Y:24.5m/s2(2.5G) or less

(2.5G) or less Y:29.4m/s2(3G) or less

(5G) or less Y:49m/s2(5G) or less

The vibration conditions are as shown below.

Acceleration direction

3 - 2

MDS-DM Series Specifications Manual

Radial load

Thrust load

CAUTION

3-1 Servomotor

3-1-3 Shaft characteristics

There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction and thrust direction, when mounted on the machine, is below the tolerable values given below. These loads may affect the motor output torque, so consider them when designing the machine.

Servomotor Tolerable radial load Tolerable thrust load HF75T, 105T (Taper shaft) 245N (L=33) 147N HF75S, 105S (Straight shaft) 245N (L=33) 147N HF54T, 104T, 154T, 224T, 123T, 223T, 142T (Taper shaft) 392N (L=58) 490N HF54S, 104S, 154S, 224S, 123S, 223S, 142S (Straight shaft) 980N (L=55) 490N HF204S, 303S, 302S (Straight shaft) 2058N (L=79) 980N HF-KP23, 43 (Straight shaft) 245N (L=30) 98N HF-KP73 (Straight shaft) 392N (L=40) 147N

(Note) The symbol L in the table refers to the value of L below.

L: Length from flange installation surface to center of load weight [mm]

1. Use a flexible coupling when connecting with a ball screw, etc., and keep the shaft core deviation

to below the tolerable radial load of the shaft.

2. When directly installing the gear on the motor shaft, the radial load increases as the diameter of the

gear decreases. This should be carefully considered when designing the machine.

3. When directly installing the pulley on the motor shaft, carefully consider so that the radial load

(double the tension) generated from the timing belt tension is less than the values shown in the

table above.

4. In machines where thrust loads such as a worm gear are applied, carefully consider providing

separate bearings, etc., on the machine side so that loads exceeding the tolerable thrust loads are

not applied to the motor.

5. Do not use a rigid coupling as an excessive bending load will be applied on the shaft and could

cause the shaft to break.

3 - 3

MITSUBISHI CNC

3 Characteristics

3-1-4 Machine accuracy

Machine accuracy of the servo motor's output shaft and around the installation part is as below. (Excluding special products)

Accuracy (mm)

Amplitude of the flange surface to the output shaft Amplitude of the flange surface's fitting outer diameter Amplitude of the output shaft end (c) 0.02 0.02 0.03 0.03

Measurement

point

(a) 0.05 0.06 0.08 0.08

(b) 0.04 0.04 0.06 0.08

Less than 100

Flange size

100, غ130

176 - غ250

280 or over

a c

3 - 4

MDS-DM Series Specifications Manual

CAUTION

3-1 Servomotor

3-1-5 Oil / water standards

(1) The motor protective format uses the IP type, which complies with IEC Standard. (Refer to the section "2-1-

1 Specifications list".) However, these Standards are short-term performance specifications. They do not guarantee continuous environmental protection characteristics. Measures such as covers, etc., must be taken if there is any possibility that oil or water will fall on the motor, and the motor will be constantly wet and permeated by water. Note that the motor's IP-type is not indicated as corrosion-resistant.

Oil or water

Servomotor

(2) When a gear box is installed on the servomotor, make sure that the oil level height from the center of the

shaft is higher than the values given below. Open a breathing hole on the gear box so that the inner pressure does not rise.

Servomotor Oil level (mm) HF75, HF105 15 HF54, HF104, HF154, HF224, HF123, HF223, HF142 22.5 HF204, HF303, HF302 30 HF-KP23, HF-KP43 12.5 HF-KP73 15

Gear

Oil level

Lip

Servomotor

V-ring

(3) When installing the servomotor horizontally, set the power cable and detector cable to face downward.

When installing vertically or on an inclination, provide a cable trap.

Cable trap

1. The servomotors, including those having IP67 specifications, do not have a completely waterproof

(oil-proof) structure. Do not allow oil or water to constantly contact the motor, enter the motor, or

accumulate on the motor. Oil can also enter the motor through cutting chip accumulation, so be

careful of this also.

2. When the motor is installed facing upwards, take measures on the machine side so that gear oil,

etc., does not flow onto the motor shaft.

3. Do not remove the detector from the motor. (The detector installation screw is treated for sealing.)

3 - 5

MITSUBISHI CNC

3 Characteristics

3-1-6 Magnetic brake

1. The axis will not be mechanically held even when the dynamic brakes are used. If the machine

could drop when the power fails, use a servomotor with magnetic brakes or provide an external

brake mechanism as holding means to prevent dropping.

2. The magnetic brakes are used for holding, and must not be used for normal braking. There may be

cases when holding is not possible due to the life or machine structure (when ball screw and

servomotor are coupled with a timing belt, etc.). Provide a stop device on the machine side to

CAUTION

ensure safety.

3. When operating the brakes, always turn the servo OFF (or ready OFF). When releasing the

brakes, always confirm that the servo is ON first. Sequence control considering this condition is

possible by using the brake contact connection terminal (CN20) on the servo drive unit.

4. When the vertical axis drop prevention function is used, the drop of the vertical axis during an

emergency stop can be suppressed to the minimum.

(1) Motor with magnetic brake

(a) Types

The motor with a magnetic brake is set for each motor. The "B" following the standard motor model stands for the motor with a brake.

(b) Applications

When this type of motor is used for the vertical feed axis in a machining center, etc., slipping and dropping of the spindle head can be prevented even when the hydraulic balancer's hydraulic pressure reaches zero when the power turns OFF. When used with a robot, deviation of the posture when the power is turned OFF can be prevented. When used for the feed axis of a grinding machine, a double safety measures is formed with the deceleration stop (dynamic brake stop) during emergency stop, and the risks of colliding with the grinding stone and scattering can be prevented. This motor cannot be used for the purposes other than holding and braking during a power failure (emergency stop). (This cannot be used for normal deceleration, etc.)

[1] The magnetic brakes use a DC excitation method, thus:

 The brake mechanism is simple and the reliability is high.  There is no need to change the brake tap between 50Hz and 60Hz. There is no rush current when the excitation occurs, and shock does not occur. The brake section is not larger than the motor section.

[2] The magnetic brake is built into the motor, and the installation dimensions are the same as the

motor without brake.

3 - 6

(d) Considerations to safety

Motor

(No brakes)

Timing belt

Ball screw

Top

Bottom

Safe!

Load

Brake

[1] Using a timing belt

Connecting the motor with magnetic brakes and the load (ball screw, etc.) with a timing belt as shown on the left below could pose a hazard if the belt snaps. Even if the belt's safety coefficient is increased, the belt could snap if the tension is too high or if cutting chips get imbedded. Safety can be maintained by using the method shown on the right below.

MDS-DM Series Specifications Manual

3-1 Servomotor

Dangerous!

Motor

Top

Brake

Load

Bottom

Ball screw

Timing belt

3 - 7

MITSUBISHI CNC

3 Characteristics

(2) Magnetic brake characteristics

< HF Series >

Motor type

HF54B, HF104B,

Item

Type (Note 1)

Rated voltage 24VDC Rated current at 20 (A)

Capacity (W) 91934 Static friction torque (N•m) 2.4 8.3 43.1

Inertia (Note 2) (kg•cm2) Release delay time (Note 3) (s) 0.03 0.04 0.1 Braking delay time (DC OFF) (Note 3) (s) 0.03 0.03 0.03

Tolerable braking work amount

Brake play at motor axis (degree) 0.1 to 0.9 0.2 to 0.6 0.2 to 0.6

Brake life (Note 4)

Per braking (J) 64 400 4,500 Per hour (J) 640 4,000 45,000

No. of braking operations (times) Work amount per braking (J)

HF75B, HF105B

Spring closed non-exciting operation magnetic brakes

(for maintenance and emergency braking)

0.38 0.8 1.4

0.2 2.2 9.7

20,000 20,000 20,000

32 200 1,000

HF154B, HF224B,

HF123B, HF223B,

HF142B

HF204B, HF303B,

HF302B

< HF-KP Series >

Item

Type (Note 1)

Rated voltage DC24V Rated current at 20(A)

Capacity (W) 7.9 10 Static friction torque (N•m) 1.3 2.4

Inertia (Note 2) (kg•cm2) Release delay time (Note3) (s) 0.03 0.1 Braking delay time (DC OFF) (Note3) (s) 0.03 0.03

Tolerable braking work amount

Brake play at motor axis (degree) 1.2 0.9

Brake life (Note4)

Per braking (J) 22 64 Per hour (J) 220 640

No. of braking operations (times) Work amount per braking (J)

HF-KP23B, HF-KP43B HF-KP73B

Spring closed non-exciting operation magnetic brakes

(for maintenance and emergency braking)

0.33 0.42

0.08 0.2

20,000 20,000

22 64

Motor type

(Note 1) There is no manual release mechanism. If handling is required such as during the machine core

alignment work, prepare a separate 24VDC power supply, and electrically release a brake.

(Note 2) These are the values added to the servomotor without a brake. (Note 3) This is the representative value for the initial attraction gap at 20  .

(Note 4) The brake gap will widen through brake lining wear caused by braking. However, the gap cannot be

adjusted. Thus, the brake life is considered to be reached when adjustments are required. (Note 5) A leakage flux will be generated at the shaft end of the servomotor with a magnetic brake. (Note 6) When operating in low speed regions, the sound of loose brake lining may be heard. However, this is

not a problem in terms of function.

3 - 8

(3) Magnetic brake power supply

CAUTION

1. Always install a surge absorber on the brake terminal when using DC OFF.

2. Do not pull out the cannon plug while the brake power is ON. The cannon plug pins could be

damaged by sparks.

(a) Brake excitation power supply

[1] Prepare a brake excitation power supply that can accurately ensure the attraction current in

consideration of the voltage fluctuation and excitation coil temperature.

[2] The brake terminal polarity is random. Make sure not to mistake the terminals with other circuits.

(b) Bake excitation circuit

When turning OFF the brake excitation power supply (to apply the brake), DC OFF is used to shorten the braking delay time. A surge absorber will be required. Pay attention to the relay cut off capacity.

 Provide sufficient DC cut off capacity at the contact.  Always use a surge absorber.  When using the cannon plug type, the surge absorber will be further away, so use shielded wires

between the motor and surge absorber.

MDS-DM Series Specifications Manual

3-1 Servomotor

100VAC or 200VAC

PS ZD1,ZD2 VAR1,VAR2

24VDC

SW1

ZD1

VAR1

ZD2

(b) Example of DC OFF

: 24VDC stabilized power supply : Zener diode for power supply protection (1W, 24V) : Surge absorber

SW2

VAR2

Magnetic brake 1

Magnetic brake 2

Magnetic brake circuits

3 - 9

MITSUBISHI CNC

3 Characteristics

3-1-7 Dynamic brake characteristics

If a servo alarm that cannot control the motor occurs, the dynamic brakes will function to stop the servomotor regardless of the parameter settings.

(1) Deceleration torque

The dynamic brake uses the motor as a generator, and obtains the deceleration torque by consuming that energy with the dynamic brake resistance. The characteristics of this deceleration torque have a maximum deceleration torque (Tdp) regarding the motor speed as shown in the following drawing. The torque for each motor is shown in the following table.

Deceleration torque



Deceleration torque characteristics of a dynamic brake

Motor speed



Max. deceleration torque of a dynamic brake

MDS-DM-V3 Series

Motor type

HF75 2.0 5.43 1538 HF-KP23 0.64 1.04 1168 HF105 3.0 10.21 1520 HF-KP43 1.27 2.6 1102 HF54 2.9 3.96 617 HF-KP73 2.39 2.96 651 HF104 5.9 10.02 735 HF154 7.0 15.65 850 HF123 7.0 9.74 558 HF223 12.0 (10.0) 21.56 742 HF142 11.0 15.46 458 HF302 20.0 (15.6) 35.45 477

Stall torque

(N•m)

Tdp

(N•m)

Ndp

(r/min)

Motor type

Stall torque

(N•m)

Tdp

(N•m)

Ndp

(r/min)

(Note) The values in the parentheses are specifications when connecting with the M/S-axis of the

MDS-DM-V3-404040.

MDS-DM-SPV2/SPV3 Series

Motor type

HF54 2.9 3.96 758 2.9 3.96 533 HF104 5.9 10.02 1060 5.9 10.02 540 HF154 9.0 15.65 1356 9.0 15.65 546 HF224 12.0 21.77 1916 12.0 21.77 660 HF204 13.7 15.97 1029 13.7 15.97 370 HF223 12.0 21.56 1145 12.0 21.56 500 HF303 22.5 35.33 1109 22.5 35.33 357 HF302 20.0 35.45 765 20.0 35.45 305

Stall torque

(N•m)

L/M-axis

Tdp

(N•m)

Ndp

(r/min)

Stall torque

(N•m)

S-axis

Tdp

(N•m)

3 - 10

Ndp

(r/min)

MDS-DM Series Specifications Manual

MAX

㧩



Dynamic brake braking diagram

Motor speed

Actual dynamic brake operation

Dynamic brake control output

Emergency stop (EMG)

OFF ON

Time

Coasting amount

3-1 Servomotor

(2) Coasting rotation distance during emergency stop

The distance that the motor coasts (angle for rotary axis) when stopping with the dynamic brakes can be approximated with the following expression.

F

㨯{

te

+ ( 1 +



MAX

JL

)㨯(A㨯N2 +B) }



M

: Motor coasting distance (angle) [mm,(deg)] F : Axis feedrate [mm/min,(deg/min)] N : Motor speed [r/min] J

: Motor inertia

: Motor shaft conversion load inertia

: Brake drive relay delay time [s] (Normally, 0.03s) A : Coefficient A (Refer to the table below) B : Coefficient B (Refer to the table below)

Coasting amount calculation coefficients table

MDS-DM-V3 Series

Motor type

JM(kg•cm2)

HF75 2.6

HF105 5.1

HF54 6.1

HF104 11.9

HF154 17.8

HF123 11.9

HF223 23.7

HF142 17.8

HF302 75.0

A B Motor type

0.54

0.57

4.35

2.82

2.34

3.82

2.59

4.39

7.73

x 10

-9

3.86 x 10

3.98 x 10

4.97 x 10

4.57 x 10

5.06 x 10

3.57 x 10

4.27 x 10

2.76 x 10

5.29 x 10

-3



[kg•cm

JM(kg•cm2)

HF-KP23 24.0

HF-KP43 42.0

HF-KP73 143.0

]

A B

0.19

0.14

0.73

x 10

-9

1.42 x 10

0.93 x 10

1.65 x 10

-3

Motor type

JM(kg•cm2)

HF54 6.1

HF104 11.9

HF154 17.8

HF224 23.7

HF204 38.3

HF223 23.7

HF303 75.0

HF302 75.0

L/M-axis

A B

3.54

x 10

1.95

x 10

1.46

x 10

0.99

x 10

4.07

1.68

x 10

3.34

x 10

4.83

x 10

MDS-DM-SPV2/SPV3 Series

-9

6.11 x 10

6.59 x 10

8.07 x 10

10.92 x 10

12.92 x 10

6.59 x 10

12.33 x 10

8.48 x 10

-3

JM(kg•cm2)

6.1

11.9

17.8

23.7

38.3

23.7

75.0

S-axis

A B

x 10

-9

5.04

3.84

3.64

2.88

11.3

3.84

10.37

12.11

4.29 x 10

3.36 x 10

3.25 x 10

3.76 x 10

4.65 x 10

2.88 x 10

3.97 x 10

3.38 x 10

-3

3 - 11

MITSUBISHI CNC

Radial load

(Note) The load point is at the one-half of the shaft length.

3 Characteristics

3-2 Spindle motor

3-2-1 Environmental conditions

Environment Conditions Ambient temperature Ambient humidity 90% RH or less (with no dew condensation) Storage temperature Storage humidity 90% RH or less (with no dew condensation)

Atmosphere

Altitude

no corrosive gas, inflammable gas, oil mist or dust Operation/storage: 1000m or less above sea level

3-2-2 Shaft characteristics

There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction, when mounted on the machine, is below the tolerable values given below. These loads may affect the motor output torque, so consider them when designing the machine.

0  to +40  (with no freezing)

-20  to +65  (with no freezing)

Indoors (no direct sunlight);

Transportation: 10000m or less above sea level

Spindle motor Tolerable radial load

SJ-V7.5-03ZT, SJ-V11-06ZT, SJ-VS7.5-03ZT 980N

SJ-V5.5-01T 1470N

SJ-V7.5-01T, SJ-V11-01T 1960N

SJ-V11-09T, SJ-V15-01T 2940N

3 - 12

3-3 Drive unit characteristics

3-3-1 Environmental conditions

Environment Conditions Ambient temperature Ambient humidity 90% RH or less (with no dew condensation) Storage temperature Storage humidity 90% RH or less (with no dew condensation)

Atmosphere

Altitude

Vibration

(Note) When installing the machine at 1,000m or more above sea level, the heat dissipation

characteristics will drop as the altitude increases. The upper limit of the ambient temperature drops 1  with every 100m increase in altitude. (The ambient temperature at an altitude of 2,000m is between 0 and 45  .)

no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles

Operation/storage: 4.9m/s

MDS-DM Series Specifications Manual

3-3 Drive unit characteristics

0  to +55  (with no freezing)

-15  to +70  (with no freezing)

Indoors (no direct sunlight);

Operation/storage: 1000m or less above sea level

Transportation: 13000m or less above sea level

(0.5G) or less Transportation: 49m/s2(5G) or less

3 - 13

MITSUBISHI CNC

POINT

3 Characteristics

3-3-2 Heating value

Each heating value is calculated with the following values. The values for the servo drive unit apply at the stall output. The values for the spindle drive unit apply for the continuous rated output. The values for the power supply unit include the AC reactor's heating value.

3-axes integrated servo drive unit Multi axis integrated drive uni

Type

MDS-DM-

V3-202020 89 0 SPV3-10080 140 590 V3-404040 159 0 SPV3-16080 150 650

Design the panel's heating value taking the actual axis operation (load rate) into consideration.

Heating value [W]

Inside

panel

Outside

panel

Type

MDS-DM-

SPV3-20080 175 815 SPV2-10080 120 510 SPV2-16080 130 570 SPV2-20080 155 740

Heating value [W]

Inside

panel

Outside

panel

The following table shows a load rate in a general machine tool.

Unit Load rate

Servo drive unit 50%

Spindle drive unit 100%

Power supply unit 100%

3 - 14

MDS-DM Series Specifications Manual

3-3 Drive unit characteristics

3-3-3 Overload protection characteristics

The servo drive unit has an electronic thermal relay to protect the servomotor and servo drive unit from overloads. The operation characteristics of the electronic thermal relay are shown below when standard parameters (SV021=60, SV022=150) are set. If overload operation over the electronic thermal relay protection curve shown below is carried out, overload 1 (alarm 50) will occur. If the maximum torque is commanded continuously for one second or more due to a machine collision, etc., overload 2 (alarm 51) will occur.

3 - 15

MITSUBISHI CNC

0.1

1.0

10.0

100.0

1000.0

10000.0

0 100 200 300 400 500

Time䋨s䋩

Motor current value (stall rated current value ratio %)

Time 䋨s䋩

When stopped

When rotating

3 Characteristics

< MDS-DM-V3-202020 >

Motor current value (stall rated current value ratio %)

10000.0

1000.0

HF75 HF105

When stopped

When rotating

10000.0

1000.0

100.0

Time 䋨s䋩

10.0

1.0

0.1 0 100 200 300 400 500

Motor current value (stall rated current value ratio %)

HF123 HF142

When stopped

When rotating

10000.0

1000.0

When stopped

When rotating

When stopped

When rotating

100.0

Time 䋨s䋩

10.0

1.0

0.1 0 100 200 300 400 500

Motor current value (stall rated current value ratio %)

HF-KP23 HF-KP43

10000.0

1000.0

100.0

Time 䋨s䋩

10.0

1.0

0.1 0 100 200 300 400 500

Motor current value (stall rated current value ratio %)

When stopped

When rotating

HF-KP73

10000.0

100.0

Time 䋨s䋩

10.0

1.0

0.1 0 100 200 300 400 500

10000.0

1000.0

100.0

Time 䋨s䋩

10.0

1.0

0.1 0 100 200 300 400 500

Motor current value (stall rated current value ratio %)

When stopped

When rotating

Motor current value (stall rated current value ratio %)

1000.0

100.0

10.0

1.0

0.1 0 100 200 300 400 500

3 - 16

< MDS-DM-V3-404040 >

0.1

1.0

10.0

100.0

1000.0

10000.0

0 100 200 300 400 500

Motor current value (stall rated current value ratio %)

Time 䋨s䋩

When stopped

When rotating

0.1

1.0

10.0

100.0

1000.0

10000.0

0 100 200 300 400 500

Motor current value (stall rated current value ratio %)

Time 䋨s䋩

When stopped

When rotating

10000.0

1000.0

MDS-DM Series Specifications Manual

3-3 Drive unit characteristics

HF75 HF105

10000.0

1000.0

100.0

Time 䋨s䋩

10.0

1.0

0.1 0 100 200 300 400 500

Motor current value (stall rated current value ratio %)

HF54 HF104

When stopped

When rotating

10000.0

1000.0

When stopped

When rotating

When stopped

When rotating

100.0

Time 䋨s䋩

10.0

1.0

0.1 0 100 200 300 400 500 600 700

Motor current value (stall rated current value ratio %)

HF154 HF123

㪈㪇㪇㪇㪇

㪈㪇㪇㪇

㪈㪇㪇

Time 䋨s䋩

㪈㪇

㪈

㪇㪅㪈

㪇㪈㪇㪇㪉㪇㪇㪊㪇㪇㪋㪇㪇㪌㪇㪇㪍㪇㪇㪎㪇㪇

Motor current value (stall rated current value ratio %)

When stopped

When rotating

HF223 HF142

100.0

Time 䋨s䋩

10.0

1.0

0.1 0 100 200 300 400 500 600 700

10000.0

1000.0

100.0

Time 䋨s䋩

10.0

1.0

0.1 0 100 200 300 400 500

10000.0

1000.0

Motor current value (stall rated current value ratio %)

When stopped

When rotating

Motor current value (stall rated current value ratio %)

When stopped

When rotating

100.0

Time 䋨s䋩

10.0

1.0

0.1

0 100 200 300 400 500

Motor current value (stall rated current value ratio %)

3 - 17

MITSUBISHI CNC

0.1

1.0

10.0

100.0

1000.0

10000.0

0 100 200 300 400 500

Motor current value (stall rated current value ratio %)

Time 䋨s䋩

When stopped

When rotating

3 Characteristics

< MDS-DM-V3-404040 continued>

HF302

3 - 18

< MDS-DM-SPV2/SPV3 Series >

0.1

1.0

10.0

100.0

1000.0

10000.0

0 100 200 300 400 500 600 700

Motor current value (stall rated current value ratio %)

Time 䋨s䋩

When stopped

When rotating

0.1

1.0

10.0

100.0

1000.0

10000.0

0 100 200 300 400 500

Motor current value (stall rated current value ratio %)

Time 䋨s䋩

When stopped

When rotating

0.1

1.0

10.0

100.0

1000.0

10000.0

0 100 200 300 400 500

Motor current value (stall rated current value ratio %)

Time 䋨s䋩

When stopped

When rotating

HF54 HF104

HF154 HF224

10000.0

1000.0

When stopped

When rotating

MDS-DM Series Specifications Manual

3-3 Drive unit characteristics

10000.0

1000.0

100.0

Time 䋨s䋩

10.0

1.0

0.1 0 100 200 300 400 500 600 700

10000.0

1000.0

Motor current value (stall rated current value ratio %)

When stopped

When rotating

When stopped

When rotating

100.0

Time 䋨s䋩

10.0

1.0

0.1 0 100 200 300 400 500 600 700

Motor current value (stall rated current value ratio %)

HF204 HF223

HF303 HF302

100.0

Time 䋨s䋩

10.0

1.0

0.1 0 100 200 300 400 500

10000.0

1000.0

100.0

Time 䋨s䋩

10.0

1.0

0.1 0 100 200 300 400 500

10000.0

1000.0

Motor current value (stall rated current value ratio %)

When stopped

When rotating

Motor current value (stall rated current value ratio %)

When stopped

When rotating

100.0

Time 䋨s䋩

10.0

1.0

0.1 0 100 200 300 400 500

Motor current value (stall rated current value ratio %)

3 - 19

3 - 20

ઃ㍳

┨

Dedicated Options

Contents

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

4 - 1

MITSUBISHI CNC

غغ

バッテリ

Battery

Battery connector

To the battery holder

4 Dedicated Options

4-1 Servo options

The option units are required depending on the servo system configuration. Check the option units to be required referring the following items.

4-1-1 Battery option (MDS-A-BT, FCU6-BTBOX-36, ER6V-C119B, A6BAT)

This battery option may be required to establish absolute position system. Select a battery option from the table below depending on the servo system.

Type EER6V-C119B A6BAT(MR-BAT)

Installation type

Hazard class Not applicable

Number of connectable

Drive unit with battery holder

type

Up to 2 axes

Dedicated case type

Not applicable

(24 or less)

Up to 8 axes

(When using dedicated

axes Battery change

Possible Possible Not possible Possible

case)

MDS-A-BT-

Unit and battery integration

type

Class9

(excluding MDS-A-BT-2)

2 to 8 axes Up to 6 axes

FCU6-BTBOX-36

Unit and battery integration

type

Not applicable

(2)

(1)

Battery A6BAT

(MR-BAT)

(3)

(4)

Appearance



ER6V-C119B



Dedicated case

MDS-BTCASE

(Note) When using the converged battery option, refer to this section "(5) Converged battery option".

4 - 2

MDS-DM Series Specifications Manual

CAUTION

POINT

4-1 Servo options

1. On January 1, 2003, new United Nations requirements, "United Nations Dangerous Goods

Regulations Article 12", became effective regarding the transportation of lithium batteries. The

lithium batteries are classified as hazardous materials (Class 9) depending on the unit. (Refer to

Appendix 4.)

2. The lithium 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. The

packaging methods, correct transportation methods, and special regulations are specified

according to the quantity of lithium alloys. The battery unit exported from Mitsubishi is packaged in

a container (UN approved part) satisfying the standards set forth in this UN Advisory.

3. To protect the absolute value, do not shut off the servo drive unit control power supply if the battery

voltage becomes low (warning 9F).

4. Contact the Service Center when replacing the MDS-A-BT Series and cell battery.

5. Replace the FCU6-BTBOX-36 battery with a new battery (2CR5) within the recommended service

period. This battery is commercially available for use in cameras, etc.

6. The battery life (backup time) is greatly affected by the working ambient temperature. The above

data is the theoretical value for when the battery is used 8 hours a day/240 days a year at an

ambient temperature of 25

and useful life will both decrease.

The battery specifications of A6BAT are the same as MR-BAT.

 . Generally, if the ambient temperature increases, the backup time

4 - 3

MITSUBISHI CNC

4 Dedicated Options

(1) Cell battery ( ER6V-C119B )

(a) Specifications

Battery option type

Lithium battery series ER6V Nominal voltage 3.6V Nominal capacity 2000mAh

Hazard class -

Battery safety

Number of connectable axes Up to 2 axes Battery continuous backup time Approx. 10000 hours Battery useful life

(From date of unit manufacture)

Data save time in battery replacement

Back up time from battery warning to alarm occurrence (Note2) Weight 20g

Battery shape Single battery Number of batteries used ER6V x 1 Lithium alloy content 0.7g Mercury content 1g or less

HF,HF-KP series: approx. 20 hours at time of delivery, approx. 10 hours after 5

Cell battery

ER6V-C119B (Note1)

7 years

years

Approx. 100 hours

(Note1) ER6V-C119B is a battery built in a servo drive unit. Install this battery only in the servo drive

unit that executes absolute position control.

(Note2) This time is a guideline, so does not guarantee the back up time. Replace the battery with a

new battery as soon as a battery warning occurs.

4 - 4

(b) Installing the cell battery

Open the upper front cover of the servo drive unit. Connect the battery connector and then put the battery inside.

<MDS-DM-V3 Series>

MDS-DM Series Specifications Manual

4-1 Servo options

Battery connector

To battery holder

<MDS-DM-SPV2/SPV3 Series>

Battery

Battery connector connection part magnified figure

BTA

1 2 1

1 2



Connect the cell battery with BT1.

BTB

BT1

Connector for connecting cell battery

Battery connector connection part magnified figure

BTA

Battery connector

To battery holder

Battery

12

BT1

Connector for connecting cell battery

Connect the cell battery with BT1.

(Note) When using a cell battery, do not connect the battery unit, MDS-A-BT and FCU6-BTBOX-36.

POINT

When using a cell battery built-in drive unit, the wiring between units is not required. The cell battery

can be changed in each drive unit.

4 - 5

MITSUBISHI CNC

4 Dedicated Options

(2) Cell battery ( A6BAT )

Always use the cell battery (A6BAT) in combination with the dedicated case (MDS-BTCASE).

(a) Specifications

Battery option type

Lithium battery series ER17330V Nominal voltage 3.6V Nominal capacity 1700mAh

Hazard class -

Battery safety

Number of connectable axes 1 axis / (per 1 battery) Battery continuous backup time Approx. 10000 hours Battery useful life (From date of unit manufacture)

Data save time in battery replacement

Back up time from battery warning to alarm occurrence (Note) Weight 17g

Battery shape Single battery Number of batteries used A6BAT (MR-BAT) x 1 Lithium alloy content 0.48g Mercury content 1g or less

HF, HF-KP series: approx. 20 hours at time of delivery, approx. 10 hours after 5

Cell battery

A6BAT (MR-BAT)

5 years

years

Approx. 80 hours

(Note) This time is a guideline, so does not guarantee the back up time. Replace the battery with a

new battery as soon as a battery warning occurs.

(b) Specifications of the dedicated case MDS-BTCASE

Type MDS-BTCASE

Number of batteries installed Up to 8 A6BATs (MR-BATs) (Install either 2, 4, 6 or 8 A6BATs (MR-BATs))

Max. 8 axes (It varies depending on the number of batteries installed.)

Number of connectable axes

When A6BAT (MR-BAT) x 2, 1 to 2 axis/axes

When A6BAT (MR-BAT) x 4, 3 to 4 axes When A6BAT (MR-BAT) x 6, 5 to 6 axes When A6BAT (MR-BAT) x 8, 7 to 8 axes

Open the cover of the dedicated case. Connect the battery connector and then put the battery inside.

Battery

A6BAT

(MR-BAT)



Dedicated case

MDS-BTCASE

Battery connector



4 - 6

MDS-DM Series Specifications Manual

Example of incorporated batteries (Photo: 8 batteries incorporated)

Corresponding to MDS-A-BT-2 Corresponding to MDS-A-BT-4

Corresponding to MDS-A-BT-6 Corresponding to MDS-A-BT-8

(d) Installing A6BAT (MR-BAT) to battery case

[1] Incorporate batteries in order, from the connector CON1 on the top of the case.

In the same way, install batteries to holders in order, from the holder on the top.

4-1 Servo options

CN1A

CON1

CON8

CON2

A6BAT

(MR-BAT)

A6BAT

(MR-BAT)

A6BAT

CN1A

CON1

CON4

CON8

(MR-BAT) (MR-BAT)

A6BAT



CN1A

CON6

CON1

CON8

A6BAT

(MR-BAT) (MR-BAT)

A6BAT



CN1A

CON1

CON8



A6BAT

(MR-BAT) (MR-BAT)

A6BAT



[2] Attach a seal indicating the number of incorporated batteries to the part shown below.

Attach the seal here.

(Attach only numbers)



4 - 7

MITSUBISHI CNC

Panel drawing

[Unit:mm]

2-M5 screw

130

160

130

136

50.7

145

㧔15㧕

16.8

145

6ޓ

145 7.5

㧔160㧕

4 Dedicated Options

(e) Outline dimension drawing of the dedicated case MDS-BTCASE

4 - 8

(3) Battery unit (MDS-A-BT-غ)

[Unit:mm]

Use an M5 screw for the 6 DIA. mounting hole

100

130

145

160

(a) Specifications

MDS-DM Series Specifications Manual

4-1 Servo options

Battery option type

Lithium battery series ER6V Nominal voltage 3.6V Nominal capacity 4000mAh 8000mAh 12000mAh 16000mAh

Hazard class Class 9

Battery safety

Number of connectable axes Up to 2 axes Up to 4 axes Up to 6 axes Up to 8 axes Battery continuous backup time Approx. 30000 hours Battery useful life (From date of unit manufacture)

Data save time in battery replacement

Back up time from battery warning to alarm occurrence (Note) Weight 600g

Battery shape Set battery Number of batteries used ER6V x 2ER6V x 4ER6V x 6ER6V x 8 Lithium alloy content 1.3g 2.6g 3.9g 5.2g Mercury content 1g or less

MDS-A-BT-2 MDS-A-BT-4 MDS-A-BT-6 MDS-A-BT-8

HF, HF-KP series: approx. 20 hours at time of delivery, approx. 10 hours after 5

Battery unit

7 years

years

Approx. 100 hours

(Note) This time is a guideline, so does not guarantee the back up time. Replace the battery with a

new battery as soon as a battery warning occurs.

(b) Outline dimension drawings

MDS-A-BT-2/-4/-6/-8

4 - 9

MITSUBISHI CNC

[Unit:mm]

2-M4 screw

Panel cut drawing

Packing area

Minus (-) terminal

Plus (+) terminal

Square

hole

4ޓ

57.512.575

2CR5

4 Dedicated Options

(4) Battery unit ( FCU6-BTBOX-36 )

(a) Specifications

Battery option type

Lithium battery series 2CR5 Nominal voltage 6.0V (Lithium battery), 3.6V (Output) Nominal capacity 2600mAh

Hazard class -

Battery safety

Number of connectable axes Up to 6 axes Battery continuous backup time Approx. 5000 hours (when 6 axes are connected) Battery useful life

(From date of unit manufacture) Data save time in battery replacement Back up time from battery warning to alarm occurrence (Note3) Weight 200g

Battery shape Single battery Number of batteries used 2CR5 x 2 Lithium alloy content 1.96g Mercury content 1g or less

HF, HF-KP series: approx. 20 hours at time of delivery, approx. 10 hours after 5

Approx. 30 hours (when 6 axes are connected)

Battery unit

FCU6-BTBOX-36 (Note1)

5 years (Note2)

years

(Note1) A lithium battery in FCU6-BTBOX-36 is commercially available. The battery for replacement

has to be prepared by the user.

(Note2) Use new batteries (nominal capacity 1300mAh or more) within five years from the date of

manufacture. The batteries should be replaced once a year.

(Note3) This time is a guideline, so does not guarantee the back up time. Replace the battery with a

new battery as soon as a battery warning occurs.

(b) Outline dimension drawings

FCU6-BTBOX-36

4 - 10

MDS-DM Series Specifications Manual

BTB

BT1

MDS-D-Vx, MDS-DM-Vx

MDS-DM-SPV2/SPV3

Battery unit

MDS-A-BT-□

Battery case

MDS-BTCASE +

A6BAT (MR-BAT)

Battery unit

FCU6-BTBOX-36

Battery connector connection part magnified figure

Connector for connecting converged battery

Connect the converged battery with BTA or BTB.

Servo motorServo motor

From NC

Multi axis integrated drive unit

(MDS-DM-SPV2/SPV3)

Power supply unit

(MDS-D-CV)

Spindle drive unit

(MDS-D-SP)

3-axes servo drive unit

(MDS-DM-V3)

1-axis servo drive unit

(MDS-D-V1)

4-1 Servo options

(5) Converged battery option

When using the following battery options, the wiring between units which configure an absolute position system is required.

Battery option type Installation type Battery charge

A6BAT (MR-BAT) Dedicated case type (built-in MR-BTBOX) Possible

MDS-A-BT series Unit and battery integration type Not possible

FCU6-BTBOX-36 Unit and battery integration type Possible

POINT

L L-

BTA

12

BTA

1 2 1 2

1 2

BT1

1. This wiring is not required for the drive unit or spindle drive unit which is not an absolute system.

2. Use a shield cable for wiring between drive units.

The drive unit could malfunction.

4 - 11

MITSUBISHI CNC

4 Dedicated Options

4-2 Spindle options

According to the spindle control to be adopted, select the spindle side detector based on the following table.

(a) No-variable speed control

(When spindle and motor are directly coupled or coupled with a 1:1 gear ratio)

Spindle control

item

Normal cutting control Control possible

Spindle control

Orientation control

Synchronous tap control

Spindle synchronous control

C-axis control C-axis control Control possible

Constant surface speed control (lathe) Control possible Thread cutting (lathe) Control possible 1-point orientation control Control possible Multi-point orientation control Control possible Orientation indexing Control possible Standard synchronous tap Control possible Synchronous tap after zero point return Control possible Without phase alignment function Control possible With phase alignment function Control possible

Control specifications

Without spindle side

detector

With spindle side

detector

This normally is not used

for no-variable speed

control.

(b) Variable speed control

(When using V-belt, or when spindle and motor are connected with a gear ratio other than 1:1)

Spindle control

item

Normal cutting control Control possible Control possible

Spindle control

Orientation control

Synchronous tap control

Spindle synchronous control

C-axis control C-axis control Control not possible

Constant surface speed control (lathe)

Thread cutting (lathe) Control not possible Control possible 1-point orientation control Control not possible Control possible Multi-point orientation control Control not possible Control possible Orientation indexing Control not possible Control possible

Standard synchronous tap

Synchronous tap after zero point return Control not possible Control possible

Without phase alignment function

With phase alignment function Control not possible Control possible

Control specifications

Without spindle side

detector

Control not possible

when using V-belt

Control not possible

when varying the speed

with a method other than

the gears (when using

V-belt or timing belt).

Control not possible

when using V-belt

With spindle side

detector

Control possible

Control not possible

when using V-belt,

or control not possible

for the RFH-1024-22-

1M-68(-8) detector

4 - 12

MDS-DM Series Specifications Manual

4-2 Spindle options

4-2-1 Spindle side detector (OSE-1024-3-15-68, OSE-1024-3-15-68-8)

When a spindle and motor are connected with a V-belt, or connected with a gear ratio other than 1:1, use this spindle side detector to detect the position and speed of the spindle. Also use this detector when orientation control and synchronous tap control, etc are executed under the above conditions.

(1) Specifications

Mechanical characteristics for rotation

Mechanical configuration

Working environment

(2) Detection signals

Detector type OSE-1024-3-15-68 OSE-1024-3-15-68-8 Inertia

Shaft friction torque 0.98Nm or less 0.98Nm or less

Shaft angle acceleration

Tolerable continuous rotation speed 6000 r/min 8000 r/min Bearing maximum non-lubrication time 20000h/6000r/min 20000h/8000r/min Shaft amplitude (position 15mm from end)

Tolerable load (thrust direction/radial direction)

Weight 1.5kg 1.5kg Squareness of flange to shaft 0.05mm or less Flange matching eccentricity 0.05mm or less Ambient temperature range

Storage temperature range Humidity 95%Ph

Vibration resistance

Impact resistance

Signal name Number of detection pulses

A, B phase 1024p/rev

Z phase 1p/rev

Half of value during opera-

-4

kgm2 or less 0.1x10-4kgm2 or less

0.1x10

rad/s2 or less 104rad/s2 or less

0.02mm or less 0.02mm or less

10kg/20kg

tion

-5  to +55 

-20  to +85 

5 to 50Hz, total vibration width 1.5mm, each shaft for

30min.

294.20m/s

10kg/20kg

Half of value during opera-

(30G)

tion

Connector pin layout

Pin Function Pin Function

A A phase K 0V

B Z phase L -

C B phase M -

D - N A phase

E Case earth P Z phase

F - R B phase

G - S -

H +5V T -

J -

4 - 13

MITSUBISHI CNC

MS3102A20-29P

□

Shaft section

Key way magnified figure

[Unit: mm]

4 Dedicated Options

(3) Outline dimension drawings

102 33

φ68

φ50

4-φ5.4 hole

3 2

- 0.11

- 0.006

φ14.3

- 0.017

φ15

- 0.009

- 0.025

φ50

+0.14

1.15

+0.012

+0.05

4 - 14

Spindle side detector (OSE-1024-3-15-68, OSE-1024-3-15-68-8)

MDS-DM Series Specifications Manual

Incorporable rotary encoder

ERM280 series

Serial interface conversion unit

APE391M series

4-2 Spindle options

4-2-2 C axis detector (HEIDENHAIN ERM280)

Highly accurate C axis control is possible by connecting HEIDENHAIN incorporable rotary encoder ERM280 series. ERM280 series encoder provides with high environmental resistance due to the magnetic memory drum. The spindle motor to be incorporated with is a built-in type, so the motor specifications must be considered, as well. Note that HEIDENHAIN serial interface unit APE391M must be purchased as it is required for connecting ERM280 series to the MDS-DM-SPV2/SPV3 drive unit.

(1) Procurement

ERM280 series and APE391M series must be purchased directly from HEIDENHAIN. Contact: HEIDENHAIN CORPORATION http://www.heidenhain.co.jp/

(2) System overview

Serial communication

detector cable

(Prepared by the user.)

Serial interface conversion unit

APE391M series

(Prepared by the user.)

Incorporable rotary

encoder

ERM280 series

Thermistor signal

Spindle motor

4 - 15

MITSUBISHI CNC

4 Dedicated Options

(3) Specifications

Type (Note 2) ERM280 1024 ERM280 1200 ERM280 2048 Serial interface unit type

Supply voltage ERM280

Electrical characteristics

Mechanical characteristics

Use environment Drum section

APE391M Number of scale marks 1024 1200 2048

Electrical tolerable rotation speed Combined resolution (Note 3) (Parameter setting value) Drum inner diameter 80mm 120mm 180mm

Drum outer diameter 128.75mm 150.88mm 257.5mm Mechanical tolerable rotation speed

Moment of inertia of rotary

Temperature range Dust/water proof structure

(IEC60529) Weight Drum section 0.89kg 0.72kg 3.0kg Scanning head 0.15kg

(Note 1) Specifications are subject to change. Confirm the details with HEIDENHAIN.

(Note 2) The above specifications are for some of the popular products of HEIDENHAIN.

For inquiries about the products having the number of scale marks other than those listed above, contact HEIDENHAIN directly.

(Note 3) Combined resolutions are not for the guarantee of the system accuracy.

APE391M C2 1024 APE391M C0 1200 APE391M C2 2048

5V r 10%

5V r 5%

17500r/min 15000r/min 8780r/min

4,000,000P/rev 4,800,000 P/rev 8,000,000P/rev

13,000r/min 10,500r/min 6,000r/min

-3

2.7 x 10

kg•m

3.5 x 10-3kg•m

-10 to 100 

IP67

38 x 10-3kg•m

4 - 16

MDS-DM Series Specifications Manual

4-3 Detector interface unit

4-3-1 APE391M

(1) Specifications

Type APE391M A0 APE391M C0 1024 APE391M C2 1200 APE391M C0 2048

Manufacture HEIDENHAIN Compatible scale LS186/LS486 etc ERM280 1024 ERM280 1200 ERM280 2048 Analog signal input specification Compatible frequency Analog raw waveform max.400kHz Scale resolution Analog raw waveform/ 4096 division Input/output communication style Working ambient temperature Atmosphere No toxic gases

Tolerable vibration

Tolerable impact

Tolerable power voltage Weight 140g Protective structure IP50

A-phase, B-phase, Z-phase (2.5V reference Amplitude 1V

High-speed serial communication I/F, RS485 or equivalent

0 to 70 

100 m/s

200 m/s

5VDC r 5%

P-P

)

(2) Appearance

(3) Explanation of connectors

Input side (detector connection side) Output side (drive unit connection side)

Input side (female D-SUB connector 15P) Output side (male D-SUB connector 15P)

Pin No. Function Pin No. Function Pin No. Function Pin No. Function

1 A+ phase signal 9 A- phase signal 1

2 0V U 10 0V sensor 2 0V Un 10 0V sensor

3 B+ phase signal 11 B- phase signal 3

4 5V Up 12 5V sensor 4 5V Up 12 5V sensor 5 - 13 - 5 SD+ signal 13 SD- signal

6 - 14 R+ phase signal 6 - 14

7 R- phase signal 15 - 7

8 - 8 RQ+ signal

Output side

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

Input side

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

A+ phase signal

(Note)

B+ phase signal

(Note)

R- phase signal

(Note)

15 RQ- signal

A- phase signal

(Note)

B- phase signal

(Note)

R+ phase signal

(Note)

(Note) Usually not used.

For details, contact the corresponding manufacture.

4 - 17

MITSUBISHI CNC



(1)

(2)

4 Dedicated Options

4-4 Drive uint option

4-4-1 Side protection cove

Install the side protection cover outside the both ends of the connected units.

(Installation method 1): Installation of medium capacity unit

(1): Install the side protection cover (type: D-COVER-1). (2): Close the front cover.

4 - 18

MDS-DM Series Specifications Manual

CN2L

CN2M

CN2S

Power

connector

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)

Option battery

for servo drive unit

3-phase 200VAC

power supply

Circuit protector (Note) Prepared

by user.

AC reactor (D-AL)

Contactor (Note) Prepared by user.

Circuit protector or protection fuse (Note) Prepared by user.

Power supply communication connector <Connector for contactor control output / external emergency stop>

To 2nd, 3rd and 4th axis servo

Power

connector

Optical communication cable

Battery

cable

Power supply communication cable

Battery unit

(MDS-A-BT)

Battery case

(MDS-BTCASE+A6BAT)

Battery unit

(FCU6-BTBOX-36)

Power cable (*Only connector is supplied.)

Spindle detector cable < Motor side PLG cable >

Spindle detector cable < Spindle side detector cable >

The circuit of external power supply or dynamic brake unit (for large capacity), etc is required.

Power cable (*Only connector is supplied.)

Servo detector cable < Motor side detector cable >

Brake cable (*Only connector is supplied.)

Brake connector

Power connector

Servomotor

Spindle side detector

Spindle motor

Battery connector

To battery

holder

Cell battery

built in drive unit

(ER6V-C119B)

Brake connector

4-5 Cables and connectors

4-5-1 Cable connection diagram

The cables and connectors that can be ordered from Mitsubishi Electric Corp. as option parts are shown below. Cables can only be ordered in the designated lengths. Purchase a connector set, etc., to create special length cables.

< MDS-DM-V3 Series >

(1)

CN2

CN3

L+ L-

(6)

(1)

(5)

(2)

(4)

(5)

(6)

(1)

(6)

(7)

(2)

CN4

(3)

4 - 19

MITSUBISHI CNC

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

(7) Spindle detector cable

< Spindle side detector cable >

To servo for M/S-axis

(7) 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.

(5) Brake connector

(6) Power connector

(4) Servo 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

4 Dedicated Options

< MDS-DM-SPV2/SPV3 Series>

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MDS-DM Series Specifications Manual

4-5 Cables and connectors

4-5-2 List of cables and connectors

(1) Optical communication cable

Item Model Contents

Drive unit side connector (Japan Aviation Electronics Industry) Connector : 2F-2D103

Drive unit side connector (Tyco Electronics AMP) Connector : 1123445-1

For CN1A/ CN1B OPT1A

Optical communication cable For wiring between drive units (inside panel)

Optical communication cable For wiring between drive units (outside panel)

G396-L غ . غ M

غ : Length

0.3, 0.5, 1, 2, 3, 5m

G380-L غغ M

غ : Length 5, 7, 10, 13, 15, 20m

(Note1) For details on the optical communication cable, refer to the section "4-5-3 optical communication cable

specification"

(Note2) For details on the optical communication cable for wiring between NC and drive unit, refer to the

instruction manual for NC controller.

Drive unit side connector (Japan Aviation Electronics Industry) Connector : 2F-2D103

Drive unit side connector (Tyco Electronics AMP) Connector : 1123445-1

(2) Battery cable

Item Model Contents

For battery unit

For drive unit

Battery cable (For drive unit - battery unit)

Battery cable (For servo drive unit - servo drive unit) *This cable is required to supply the power from the battery unit to multiple drive units.

DG21- غ M

غ : Length

0.3, 0.5, 1, 5m

DG22- غ M

غ : Length

0.3, 0.5, 1, 5m

(3) Power supply communication cable and connector

Item Model Contents

SH21

For CN4/9 Power supply communication cable

For CN4/9

Power supply communication cable connector set

Length:

0.35, 0.5, 0.7, 1, 1.5, 2,2.5, 3, 3.5, 4, 4.5, 5, 6, 7, 8, 9, 10, 15, 20, 30m

FCUA-CS000

Drive unit side connector (Hirose Electric) Connector : DF1B-2S-2.5R Contact : DF1B-2428SCA

Drive unit side connector (3M) Connector : 10120-6000EL Shell kit : 10320-3210-000

Drive unit side connector (3M) Connector : 10120-3000VE Shell kit : 10320-52F0-008

Battery unit side connector (3M) Connector : 10120-3000VE Shell kit : 10320-52F0-008

Drive unit side connector (Hirose Electric) Connector : DF1B-2S-2.5R Contact : DF1B-2428SCA

Power supply unit side connector (3M) Connector : 10120-6000EL Shell kit : 10320-3210-000

Power supply unit side connector (3M) Connector : 10120-3000VE Shell kit : 10320-52F0-008

For CN23

Contactor control output / external emergency stop for connector

CNU23S(AWG14)

Power supply unit side connector (DDK) Connector : DK-3200M-06RXY Contact : DK-3REC2LLP1-100

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4 Dedicated Options

(4) Servo detector cable and connector

Item Model Contents

CNV2E-6P- غ M

غ : Length

2, 3, 4, 5, 7, 10, 15, 20, 25, 30m

CNV2E-7P- غ M

غ : Length 2, 3, 4, 5, 7, 10, 15, 20, 25, 30m

CNV2E-8P- غ M

غ : Length 2, 3, 4, 5, 7, 10, 15, 20, 25, 30m

CNV2E-9P- غ M

غ : Length 2, 3, 4, 5, 7, 10, 15, 20, 25, 30m

CNE10-R10S(9)

Applicable cable outline ø6.0 to 9.0mm

CNE10-R10L(9)

Applicable cable outline ø6.0 to 9.0mm

For CN2/ For CN2L/ M/S

For servomotor detector

<For HF motor> Motor side detector cable (for A51)

<For HF motor> Motor side detector cable (for A48/A51)

< For HF motor > Motor side detector connector

Servo drive unit side connector (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008 (MOLEX) Connector set: 54599-1019

Servomotor detector side connector (DDK) Plug : CM10-SP10S-M Contact : CM10-#22SC

Servomotor detector side connector (DDK) Plug : CM10-AP10S-M Contact : CM10-#22SC

Servomotor detector side connector (DDK) Plug : CM10-SP10S-M Contact : CM10-#22SC

Servomotor detector side connector (DDK) Plug : CM10-AP10S-M Contact : CM10-#22SC

Servomotor detector side connector (DDK) Plug : CM10-SP10S-M Contact : CM10-#22SC

Servomotor detector side connector (DDK) Plug : CM10-AP10S-M Contact : CM10-#22SC

For CN2

4 - 22

Servo detector connector

CNU2S(AWG18)

Servo drive unit side connector (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008 (MOLEX) Connector set: 54599-1019

(5) Brake connector

Item Model Contents

For motor brake

For CN20

Brake connector for HF

Brake connector for motor brake control output

CNB10-R2S(6)

Applicable cable outline ø4.0 to 6.0mm

CNB10-R2L(6)

Applicable cable outline ø4.0 to 6.0mm

CNU20S(AWG14)

MDS-DM Series Specifications Manual

4-5 Cables and connectors

Servomotor side brake connector (DDK) Plug : CM10-SP2S-S Contact : CM10-#22SC-S2

Servomotor side brake connector (DDK) Plug : CM10-AP2S-S Contact : CM10-#22SC-S2

Servo drive unit side connector (DDK) Connector : DK-3200S-03R Contact : DK-3REC2LLP1-100

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4 Dedicated Options

(6) Power connector

Item Model Contents

Power connector for HF75,105,54,104,154,224 123,223,142

For motor power

Power connector for HF204,303,302

CNP18-10S(14)

Applicable cable outline ø10.5 to 14mm

CNP18-10L(14)

Applicable cable outline ø10.5 to 14mm

CNP22-22S(16)

Applicable cable outline ø12.5 to 16mm

CNP22-22L(16)

Applicable cable outline ø12.5 to 16mm

Servomotor side power connector (DDK) Plug: CE05-6A18-10SD-C-BSS Clamp: CE3057-10A-1 (D240)

Servomotor side power connector (DDK) Plug: CE05-8A18-10SD-C-BAS Clamp: CE3057-10A-1 (D240)

Servomotor side power connector (DDK) Plug: CE05-6A22-22SD-C-BSS Clamp: CE3057-12A-1 (D240)

Servomotor side power connector (DDK) Plug: CE05-8A22-22SD-C-BAS Clamp: CE3057-12A-1 (D240)

For TE1

For CN31 L/M/S

FOR CN22

Power connector for MDS-DM-V3

Power connector for MDS-DM-SPV2/SPV3

Control power connector for MDS-DM-SPV2/SPV3

CNU1S(AWG14)

RCN31S RCN31M

Applicable cable outline ø1.25 to 5.5mm

RCN22

Applicable cable outline ø1.25 to 2.2mm

Servomotor side power connector (DDK) Housing : DK-5200S-04R Contact : DK-5RECSLP1-100

Drive unit side power connector (DDK) Housing : DK-5200M-04R Contact : DK-5RECSLP1-100 (For AWG 14,16) Contact : DK-5RECMLP1-100 (For AWG 10,12)

Drive unit side control power connector (DDK) Housing : DK-3200S-02R Contact : DK-3REC2LLP1-100

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(7) Spindle detector cable and connector

Item Model Contents

CNP2E-1- غ M

For CN2 Motor side PLG cable

غ : Length 2, 3, 4, 5, 7, 10, 15, 20, 25, 30m

MDS-DM Series Specifications Manual

Spindle drive unit side connector (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008 (MOLEX) Connector set : 54599-1019

4-5 Cables and connectors

Spindle motor side connector (Tyco Electronics AMP) Connector : 172169-1 Contact :170363-1(AWG26-22) 170364-1(AWG22-18)

For CN3

For spindle motor

Spindle side detector cable

Motor side PLG connector

Spindle side detector cable

CNP3EZ-2P- غ M

غ : Length 2, 3, 4, 5, 7, 10, 15, 20, 25, 30m

CNP3EZ-3P- غ M

غ : Length 2, 3, 4, 5, 7, 10, 15, 20, 25, 30m

CNEPGS

Applicable cable outline ø6.8 to 10mm

Spindle drive unit side connector (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008 (MOLEX) Connector set : 54599-1019

Spindle motor side connector (DDK) Connector : MS3106A20-29S(D190) Straight back shell : CE02-20BS-S Clamp : CE3057-12A-3

Spindle motor side connector (DDK) Connector : MS3106A20-29S(D190) Angle back shell : CE-20BA-S Clamp : CE3057-12A-3

Spindle motor side connector (Tyco Electronics AMP) Connector : 172169-1 Contact :170363-1(AWG26-22) 170364-1(AWG22-18)

Spindle motor side connector (DDK) Connector :MS3106A20-29S(D190) Straight back shell : CE02-20BS-S Clamp : CE3057-12A-3

Spindle motor side connector (DDK) Connector :MS3106A20-29S(D190) Angle back shell : CE-20BA-S Clamp : CE3057-12A-3

For CN2/3

Spindle detector connector

CNU2S(AWG18)

Spindle drive unit side connector (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008 (MOLEX) Connector set : 54599-1019

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MITSUBISHI CNC

2.2

0.07

4.4±0.1

7.6±0.5

4.4±0.4

2.2

0.2

) )

)

4 Dedicated Options

4-5-3 Optical communication cable specifications

(1) Specifications

Cable model

Specification application For wiring inside panel

Cable length 0.3, 0.5, 1.0, 2.0, 3.0, 5.0m 5.0, 7.0, 10, 13, 15, 20m

Minimum bend radius

Tension strength 140N

Temperature range for use (Note1)

Ambient Indoors (no direct sunlight) No solvent or oil

Cable appearance

[mm] Optical communication cable

Protection tube

Connector

appearance

[mm]

G396-Lغ.غM G380-LغغM

25mm

-40 to 85  -20 to 70 

(13.4)

(15)

(6.7)

20.9

37.65

2.3

1.7

Enforced covering cable: 50mm

(Enforced covering cable)

8.5 20.3

For wiring outside panel

For long distance wirning

cord: 30mm

980N

22.7

(Note1) This temperature range for use is the value for optical cable (cord) only. Temperature condition for

the connector is the same as that for drive unit.

(Note2) Do not see directly the light generated from CN1A/CN1B/OPT1A 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.)

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MDS-DM Series Specifications Manual

4-5 Cables and connectors

(2) Cautions for using optical communication cable

Optical communication cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission

will not be available. Especially, as optical fiber for G396-Lغ. غM is made of synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not make it touched the part, which becomes high temperature, such as radiator or regenerative brake option of drive unit. Read described item in this section carefully and handle it with caution.

(a) Minimum bend radius

Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to edges of equipment or others. For the optical communication cable, the appropriate length should be selected with due consideration for the dimensions and arrangement of drive unit so that the cable bend will not become smaller than the minimum bend radius in cable laying. When closing the door of control box, pay careful attention for avoiding the case that optical communication cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius. Lay the cable so that the numbers of bends will be less than 10 times.

(b) Bundle fixing

When using optical communication cable of 3m or longer, fix the cable at the closest part to the connector with bundle material in order to prevent optical communication cable from putting its own weight on CN1A/CN1B/OPT1A connector of drive unit. Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. When tightening up the cable with nylon band, the sheath material should not be distorted. Fix the cable with tightening force of 1 to 2kg or less as a guide.

Minimum bend radius For wiring inside panel: 25mm For wiring outside panel: 50mm

wall

When laying cable, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material. Never use vinyl tape for cord. Plasticizing material in vinyl tape goes into optical fiber and lowers the optical characteristic. At worst, it may cause wire breakage. If using adhesive tape for cable laying, the fire resistant acetate cloth adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended. If laying with other wires, do not make the cable touched wires or cables made from material which contains plasticizing material.

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MITSUBISHI CNC

4 Dedicated Options

If tension is added on optical fiber, the increase of transmission loss occurs because of external force which concentrates on the fixing part of optical fiber or the connecting part of optical connector. At worst, the breakage of optical fiber or damage of optical connector may occur. For cable laying, handle without putting forced tension.

(d) Lateral pressure

If lateral pressure is added on optical communication cable, the optical cable itself distorts, internal optical fiber gets stressed, and then transmission loss will increase. At worst, the breakage of optical cable may occur. As the same condition also occurs at cable laying, do not tighten up optical communication cable with a thing such as nylon band (TY-RAP). Do not trample it down or tuck it down with the door of control box or others.

(e) Twisting

If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur at worst.

(f) Cable selection

࡮ When wiring is outside the power distribution panel or machine cabinet, there is a highly possibility

that external power is added. Therefore, make sure to use the cable for wiring outside panel (G380L غغ M)

࡮ If a part of the wiring is moved, use the cable for wiring outside panel.

࡮ In a place where sparks may fly and flame may be generated, use the cable for wiring outside

panel.

(g) Method to lay cable

When laying the cable, do not haul the optical fiver or connector of the optical communication cable strongly. If strong force is added between the optical fiver and connector, it may lead to a poor connection.

(h) Protection in unuse

When the CN1A/CN1B/OPT1A connector of the drive unite or the optical communication cable connector is not used such as pulling out the optical communication cable from drive unit , protect the joint surface with attached cap or tube for edge protection. If the connector is left with its joint surface bared, it may lead to a poor connection caused by dirty.

(i) Attaching /Detaching optical communication cable connector

With holding the connector body, attach/detach the optical communication cable connector. If attaching/detaching the optical communication cable with directly holding it, the cable may be pulled out, and it may cause a poor connection. When pulling out the optical communication connector, pull out it after releasing the lock of clock lever.

(j) Cleaning

4 - 28

If CN1A, CN1B and OPT1A connector of the drive unit or optical communication cable connector is dirty, it may cause poor connection. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol.

MDS-DM Series Specifications Manual

4-5 Cables and connectors

(k) Disposal

(l) Return in troubles

When asking repair of drive unit for some troubles, make sure to put a cap on CN1A/CN1B/OPT1A connector. When the connector is not put a cap, the light device may be damaged at the transit. In this case, exchange and repair of light device is required.

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4 - 30

ઃ㍳

┨

Selection of Peripheral

Devices

Contents

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

5 - 1

MITSUBISHI CNC



5 Selection of Peripheral Devices

5-1 Selection of wire

5-1-1 Example of wires by unit

Selected wires must be able to tolerate rated current of the unit's terminal to which the wire is connected. How to calculate tolerable current of an insulated wire or cable is shown in "Tolerable current of electric cable" (1) of Japanese Cable Makers' Association Standard (JCS)-168-E (1995), its electric equipment technical standards or JEAC regulates tolerable current, etc. wire. When exporting wires, select them according to the related standards of the country or area to export. In the UL

standards, certification conditions are to use wires of 60  and 75  product. (UL508C) Wire's tolerable current is different depending on conditions such as its material, structure, ambient temperature, etc. Check the tolerable current described in the specification of the wire to use. Example of wire selections according to each standard is as follows.

(1) 600V vinyl insulated wire (IV wire) 60

(Example according to IEC/EN60204-1, UL508C) < MDS-DM-V3 Series >

product

Unit type

Servo drive unit

MDS-DM-V3-202020 MDS-DM-V3-404040

< MDS-DM-SPV2/SPV3 Series >

Unit type

MDS-DM-SPV3-10080 MDS-DM-SPV3-16080 14 6

Drive unit

MDS-DM-SPV3-20080 22 4 MDS-DM-SPV2-10080 5.5 10 MDS-DM-SPV2-16080 14 6 MDS-DM-SPV2-20080 22 4

TE1

(SU, SV, SW, )

(MU, MV, MW, )

(LU, LV, LW, )

2 14

TE1

(L1, L2, L3)

30 3

AWG

5.5 10

Terminal name

TE2

(L+, L-)

Match with TE2 of selected

power supply unit

Terminal name

TE1

(U, V, W)

AWG

CN31L/M/S

(U,V,W,PE)

3.5 12 2 14

TE3

(L11, L21)

214

AWG

CN22

(VDD.SG)

5 - 2

Mitsubishi MDS-DM SPECIFICATIONS MANUAL

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Precautions for safety

Contents

Introduction

1-1 Drive system configuration

1-1-1 System configuration

1-2 Explanation of type

1-2-1 Servomotor type

1-2-2 Drive unit type

1-2-3 Spindle motor type

1-2-4 AC reactor type

Specifications

2-1 Servomotor

2-1-1 Specifications list

2-1-2 Torque characteristics

2-2 Spindle motor

2-2-1 Specifications

2-2-2 Output characteristics

2-3 Drive unit

2-3-1 Installation environment conditions

2-3-2 Multi axis drive unit

2-3-3 AC reactor

2-3-4 D/A output specifications (Servo)

2-3-5 D/A output specifications (Spindle)

2-3-6 Explanation of each part

Characteristics

3-1 Servomotor

3-1-1 Environmental conditions

3-1-2 Quakeproof level

3-1-3 Shaft characteristics

3-1-4 Machine accuracy

3-1-5 Oil / water standards

3-1-6 Magnetic brake

3-1-7 Dynamic brake characteristics

3-2 Spindle motor

3-2-1 Environmental conditions

3-2-2 Shaft characteristics

3-3 Drive unit characteristics

3-3-1 Environmental conditions

3-3-2 Heating value

3-3-3 Overload protection characteristics

Dedicated Options

4-1 Servo options

4-1-1 Battery option (MDS-A-BT, FCU6-BTBOX-36, ER6V-C119B, A6BAT)

4-2 Spindle options

4-2-1 Spindle side detector (OSE-1024-3-15-68, OSE-1024-3-15-68-8)

4-2-2 C axis detector (HEIDENHAIN ERM280)

4-3 Detector interface unit

4-3-1 APE391M

4-4 Drive uint option

4-4-1 Side protection cove

4-5 Cables and connectors

4-5-1 Cable connection diagram

4-5-2 List of cables and connectors

4-5-3 Optical communication cable specifications

5-1 Selection of wire

5-1-1 Example of wires by unit