MELDAS is a registered trademark of Mitsubishi Elec tric Corporation.
Other company and product names that appear in this manual are tradema rks 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.
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
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 .
The meaning of each pictorial sign is as follows.
CAUTION
Prohibited
CAUTION rotated
Disassembly is
prohibited
object
CAUTION HOT Danger Electric shock
KEEP FIRE AWAY General instruction
Danger explosive
risk
Earth ground
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 boar d, servo drive unit, spi ndle drive
unit, power supply, servomotor and spindle mo to r, et c.
In this section "Precautions for safety", the following items are generically called the "motor".
• Servomotor
• Linear servomotor
• Spindle motor
In this section "Precautions for safety", the following items are generically called the "unit".
• Servo drive unit
• Spindle drive unit
• Power supply unit
• Scale interface unit
• Magnetic pole detection unit
POINT
Important matters that should be understood for operation of this machine are indicated as a POINT
in this manual.
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. Fa ilure
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.
After assembling the built-in IPM spindle motor, if the rotor is rotated by hand etc., voltage occurs
between the terminals of lead. Take care not to get electric shocks.
WARNING
2. Injury prevention
In the system where the optical communication with CNC is executed, do not see directly the light
generated from CN1A/CN1B connector of drive unit or the end of cable. When the light gets into eye,
you may feel something is wrong for eye.
(The light source of optical communication corresponds to class1 defined in JISC6802 or IEC60825-1.)
The linear servomotor, direct-drive motor and built-in IPM spindl e motor uses permanent ma gnets in the
rotor, so observe the following precautions .
(1)Handling
• The linear servomotor, direct-drive motor and built-in IPM spindle motor could adversely affect
medical electronics such as pacemakers, etc., therefore, do not approach the rotor.
• Do not place magnetic materials as iron.
• When a magnetic material as iron is placed, take safety measure not to pinch finger s or hands
due to the magnetic attraction force.
• Remove metal items such as watch, piercing jewelry, necklace, etc.
• Do not place portable items that could malfunction or fail due to the influence of the magnetic
force.
• When the rotor is not securely fixed to the machine or device, do not leave it unattended but store
it in the package properly.
(2)Transportation and storage
• Correctly store the rotor in the package to transport and store.
• During transportation and storage, draw people's attention by applying a notice saying "Strong
magnet-Handle with care" to the package or storage shelf.
• Do not use a damaged package.
(3)Installation
• Take special care not to pinch fingers, etc., when installing (and unpacking) the linear servomotor.
1. Fire prevention
CAUTION
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 caus e bu rn s or part dam a ge .
Structure the cooling fan on the unit back face, etc., etc so that it cannot be touched afte r installation.
Touching the cooling fan during operation could lead to injuries.
3. Various precautions
CAUTION
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.
Provide adequate protection using a material such as connector for conduit to prevent screws, metallic
detritus, water and other conductive matter or oil and other combustible matter from entering the motor
through the power line lead-out port.
The units, motors and detectors 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.
EnvironmentUnitMotor
Operation: 0 to 55°C(with no freezing),
Ambient temperature
Ambient humidity
Atmosphere
Altitude
Vibration/impactAccording to each unit or motor specification
Storage / Transportation: -15°C to 70°C
(with no freezing)
Operation: 90%RH or less
(with no dew condensation)
Storage / Transportation: 90%RH or less
(with no dew condensation)
Indoors (no direct sunlight)
With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
Operation/Storage: 1000 meters or less above sea
level,
Transportation: 13000 meters or less above sea
level
(Note 1) For details, confirm each unit or motor specifications in addition.
(Note 2) -15°C to 55°C for linear 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 spindle mo tor, do not heat the rotor highe r than 130°C. The
magnet could be demagnetized, and the specifications characteristics will not be ensured.
Always use a nonmagnetic tool (explosion-proof beryllium copper alloy safety tool: NGK Insulators, etc.)
when installing the linear servomotor.
Always provide a mechanical stopper on the end of the linear servomotor's travel path.
If the unit has been stored for a long time, always check the operation before starting actual operation.
Please contact the Service Center, Service Station, Sales Office or delayer.
Operation: 0 to 40°C(with no freezing),
Storage: -15°C to 70°C (Note2) (with no freezing)
Operation: 80%RH or less
(with no dew condensation),
Storage: 90%RH or less
(with no dew condensation)
Operation: 1000 meters or less above sea level,
Storage: 10000 meters or less above sea level
(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 sid e 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.
CAUTION
RA
)
COM
(24VDC)
RA
Servodrive unit
Servodrive unit
Control output
signal
Control output
signal
Always connect the motor to the drive unit's output terminals (U, V, W).
Do not directly connect a commercial power supply to the servomotor. Failure to observe this could
result in a fault.
When using an inductive load such as a relay, always connect a diode as a noise measure parallel to
the load.
When using a capacitance load such as a lamp, always connect a protective resistor as a noise
measure serial to the load.
Do not reverse the direction of a diode which
connect to a DC relay for the control output
signals such as contractor and motor brake
output, etc. to suppress a surge. Connecting it
backwards could cause the drive unit to
malfunction so that signals are not output, and
emergency stop and other safety circuits are inoperable.
Do not connect/disconnect the cables connected between the units while the power is ON.
Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could cause
the cable to fall off while the power is ON.
When using a shielded cable instructed in the instruction manual, always ground the cable with a cable
clamp, etc.
Always separate the signals wires from the drive wire and power line.
Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to the
system.
COM
(24VDC
(3) Trial operation and adjustment
Check and adjust each program and parameter before starting op er ation . Failur e to do so cou l d 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.
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, ab nor ma l 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 combinatio n. Failur e to do so could
lead to fires or trouble.
The brake (magnetic brake) of the servomotor are for ho ldin g, and m ust not b e used fo r nor mal br aking .
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 an d inspection, always test the operation
before starting actual operation.
Do not enter the movable range of the machine during automatic operation. Never place body parts
near or touch the spindle during rotation.
Follow the power supply specification conditions given in each specification for the power (input voltage,
input frequency, tolerable sudden power failure time, etc.).
Set all bits to "0" if they are indicated as not used or empty in the explanation on the bits.
Do not use the dynamic brakes except during the emergency stop. Continued use of the dynamic
brakes could result in brake damage.
If a circuit protector for the main circuit power supply is shared by several units, the circuit protector may
not activate when a short-circuit fault occurs in a small capacity unit. This is dangerous, so never share
the circuit protector.
CAUTION
MBR
EMG
Servomotor
Magnetic
brake
Shut off with the servomotor
brake control output.
Shut off with NC brake
control PLC output.
24VDC
(5) Troubleshooting
If a hazardous situation is predicted during power failure or product trouble, use a servomotor with
magnetic brakes or install an external brake mechanism.
Use a double circuit configuration that allows the
operation circuit for the magnetic brakes to be operated
even by the external emergency stop signal.
Always turn the main circuit power of the motor OFF
when an alarm occurs.
If an alarm occurs, remove the cause, and secure the
safety before resetting the alarm.
(6) Maintenance, inspection and part replacement
Always backup the programs and parameters be fo re star tin g ma in te na nc e or insp ect ion s.
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 rep l ac e th e ba ttery.
Do not short circuit, charge, overheat, incinerate or disassemble the battery.
For after-purchase servicing of the built-in motor (including the detector), supplies of servicing parts and
repairs can only be offered.
For maintenance, part replacement, and services in case of failures in the built-in motor (including the
detector), take necessary actions at your end. For spindle drive unit, Mitsubishi can offer the afterpurchase servicing as with the general spindle drive unit.
When a failure has occurred in the built-in motor (including the detector), some period of time can be
required to supply the servicing parts or repair. Prepare the spare parts a t your end whenever possible.
(7) Disposal
Take the batteries and backlights for LCD, etc., off from the controller, drive unit an d motor, and dispose
of them as general industrial wastes.
Do not disassemble the unit or motor.
Dispose of the battery according to local laws.
Always return the secondary side (magnet side) of the linear 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 nee ded 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.
Disposal
(Note)This symbol mark is for EU countries only.
This symbol mark is according to the directive 2006/66/EC Article 20 Information for endusers and Annex II.
Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and
components which can be recycled and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be disposed of
separately from your household waste.
If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the
battery or accumulator contains a heavy metal at a certain concentration. This will be indicated as
follows:
Hg: mercury (0,0005%), Cd: cadmium (0,002%), Pb: lead (0,004%)
In the European Union there are separate collection systems for used batteries and accumulators.
Please, dispose of batteries and accumulators correctly at your local community waste collection/
recycling centre.
Please, help us to conserve the environment we live in!
1-2 Explanation of type ...........................................................................................................................1 - 3
2-4-5 Explanation of each part.........................................................................................................2 - 23
3 Function Specifications.............................................3 - 1
Function specifications list......................................................................................................................3 - 2
3-1 Base functions..................................................................................................................................3 - 4
1-4-1 Environmental conditions
1-4-2 Installation direction and clearance
1-4-3 Prevention of entering of foreign matter
1-4-4 Heating value
1-4-5 Heat radiation countermeasures
1-5 Installation of the spindle detector
1-5-1 Spindle side ABZ pulse output detector
(OSE-1024 Series)
1-5-2 Spindle side PLG serial output detector
(TS5690, MU1606 Series)
1-5-3 Installation accuracy diagnosis for PLG
detector
1-6 Noise measures
2-6-2 Connection of the grounding cable
2-7 Connection of regenerative resistor
2-7-1 Standard built-in regenerative resistor (Only
for MDS-D-SVJ3)
2-7-2 External option regenerative resistor
2-8 Wiring of the peripheral control
2-8-1 Wiring of the Input/output circuit
2-8-2 Wiring of the contactor control
2-8-3 Wiring of the motor magnetic brake (MDS-
D-SVJ3)
2-8-4 Wiring of an external emergency stop
2-8-5 Safety observation function
2-8-6 Specifications of proximity switch
3 Setup
3-1 Initial setup
3-1-1 Setting the rotary switch
3-1-2 Setting DIP switch
3-1-3 Transition of LED display after power is
turned ON
3-2 Setting the initial parameters for the servo drive
unit
3-2-1 Setting of servo specification parameters
3-2-2 Setting of machine side detector
3-2-3 List of standard parameters for each
servomotor
3-2-4 Servo parameters
3-3 Setting the initial parameters for the spindle drive
unit
3-3-1 Setting of parameters related to the spindle
3-3-2 List of standard parameters for each spindle
motor
3-3-3 Spindle specification parameters
3-3-4 Spindle parameters
4 Servo Adjustment
2 Wiring and Connection
2-1 Part system connection diagram
2-2 Main circuit terminal block/control circuit
2-3 NC and drive unit connection
2-4 Connecting with optical communication rep eater
unit
2-5 Motor and detector connection
2-5-1 Connection of the servomotor
2-5-2 Connection of the full-closed loop system
2-5-3 Connection of the spindle motor
2-5-4 Connection of the tool spindle motor
2-6 Connection of power supply
2-6-1 Power supply input connection
4-1 D/A output specifications for servo drive unit
4-1-1 D/A output specifications
4-1-2 Output data settings
4-1-3 Setting the output magnification
4-2 Servo adjustment procedure
4-3 Gain adjustment
4-3-1 Current loop gain
4-3-2 Speed loop gain
4-3-3 Position loop gain
4-4 Characteristics improvement
4-4-1 Optimal adjustment of cycle time
4-4-2 Vibration suppression measures
4-4-3 Improving the cutting surface precision
4-4-4 Improvement of characteristics during
acceleration/deceleration
4-4-5 Improvement of protrusion at quadrant
changeover
4-4-6 Improvement of overshooting
4-4-7 Improvement of the interpolation control
path
4-5 Adjustment during full closed loop control
4-5-1 Outline
4-5-2 Speed loop delay compensation
4-5-3 Dual feedback control
4-6 Settings for emergency stop
4-6-1 Deceleration control
4-6-2 Vertical axis drop prevention control
4-6-3 Vertical axis pull-up control
lathe system)
5-2-8 Deceleration coil changeover valid function
by emergency stop
5-2-9 High-response acceleration/deceleration
function
5-2-10 Spindle cutting withstand level
improvement
5-3 Settings for emergency stop
5-3-1 Deceleration control
5-4 Spindle control signal
5-4-1 Spindle control input (NC to Spindle)
5-4-2 Spindle control output (Spindle to NC)
6 Troubleshooting
6-1 Points of caution and confirmation
6-1-1 LED display when alarm or warning occurs
6-2 Protective functions list of units
6-2-1 List of alarms
6-2-2 List of warnings
6-3 Troubleshooting
6-3-1 Troubleshooting at power ON
6-3-2 Troubleshooting for each alarm No.
6-3-3 Troubleshooting for each warning No.
6-3-4 Parameter numbers during initial parameter
error
6-3-5 Troubleshooting the spindle system when
there is no alarm or warning
Appendix 1-1 Selection of cable
Appendix 1-1-1 Cable wire and assembly
Appendix 1-2 Cable connection diagram
Appendix 1-2-1 Battery cable
Appendix 1-2-2 Optical communication repeater
Appendix 3-1 Precautions in transporting motor
Appendix 3-2 Precautions in selecting motor fittings
Appendix 3-3 Precautions in mounting fittings
Appendix 3-4 Precautions in coupling shafts
Appendix 3-5 Precautions in installing motor in
machine
Appendix 3-6 Other Precautions
Appendix 3-7 Example of unbalance correction
Appendix 3-8 Precautions in balancing of motor with
key
Appendix 4 Compliance to EC
Directives
Appendix 4-1 Compliance to EC Directives
Appendix 4-1-1 European EC Directives
Appendix 4-1-2 Cautions for EC Directive
Appendix 5-4-1 Measures for control panel unit
Appendix 5-4-2 Measures for door
Appendix 5-4-3 Measures for operation board
panel
Appendix 5-4-4 Shielding of the power supply
input section
Appendix 5-5 Measures for various cables
Appendix 5-5-1 Measures for wiring in panel
Appendix 5-5-2 Measures for shield treatment
Appendix 5-5-3 Servo/spindle motor power cable
Appendix 5-5-4 Servo/spindle motor feedback
cable
Appendix 5-6 EMC countermeasure parts
Appendix 5-6-1 Shield clamp fitting
Appendix 5-6-2 Ferrite core
Appendix 5-6-3 Power line filter
Appendix 5-6-4 Surge protector
Appendix 6 EC Declaration of
Conformity
Appendix 6-1 Compliance to EC Directives
Appendix 6-1-1 Low voltage equipment
Appendix 7 Higher Harmonic
Suppression
Measure Guidelines
Appendix 7-1 Higher harmonic suppression measure
guidelines
Appendix 7-1-1 Calculating the equivalent capacity
of the higher harmonic generator
付録
1
章
1 - 1
Contents
1
Introduction
1-1 Servo/spindle drive system configuration ..................................................... 1 - 2
1-1-1 System configuration............................................................................ 1 - 2
1-2 Explanation of type ....................................................................................... 1 - 3
1-2-1 Servomotor type ................................................................................... 1 - 3
1-2-2 Servo drive unit type............................................................................. 1 - 4
1-2-3 Spindle motor type................................................................................ 1 - 5
1-2-4 Tool spindle motor type ........................................................................ 1 - 6
1-2-5 Spindle drive unit type .......................................................................... 1 - 7
1 - 1
1 Introduction
MITSUBISHI CNC
1-1 Servo/spindle drive system configuration
CN1B
CN1A
CNP2
CNP3
CNP2
CNP3
(MDSSVJ3) -D-
(MDS-D-SPJ3)
CN1A
Linear scale (in full closed control)
(Note)
Prepared by user
Spindle motor
Spindle side detector
Contactor
(Note)
Prepared by user
Circuit protector
(Note)
Prepared by user
Circuit
protector
or
fuse
(Note)
Prepared
by user
Servo
drive unit
Contactor
(Note)
Prepared by user
Circuit protector
(Note)
Prepared by user
Spindle
drive unit
3-phase
200 to 230VAC
Circuit
protector
or
fuse
(Note)
Prepared
by user
Mitsubishi serial
signal output
1-1-1 System configuration
L1
L2
L3
L11
L21
Option
Regene-
rative
resistor
L1 L2 L3
P
C
W
V U
CNP1
From NC
CN2
CN3
BAT
Regene-
rative
resistor
L1 L2 L3
CNP1
P
L11
C
L21
CN2
W
V U
CN3
1 - 2
Servomotor
MDS-D-SVJ3/SPJ3 Series Specifications Manual
1-2 Explanation of type
1-2 Explanation of type
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/+657$+5*+'.'%64+%
/ # & ' +0 ,# 2 # 0
(1) Rated output · Maximum rotation speed(3) Shaft end structure(5) Detector
Sy m bol Rated output
Maximum r otation speed
Flange size (mm)Sy m bolShaft end st ruc tureSy mbolDetec t ion met hodResolut ion
54 0.5 kW4000 r/min130 SQ.(Note) "Taper" is available
104 1.0 kW4000 r/min130 S Q. for the motor whose flange
154 1.5 kW4000 r/min130 SQ. size is 90 SQ. mm or 130 SQ. mm.(4) Production plant
Symbol
204 2.0 kW4000 r/min176 SQ.(2) Magnetic brakesNone
Rated output · Maximum rotation speed(1) Magnetic brake
Sy m bol Rat ed output
Maximum rotation speed
Flange size (mm )
SymbolMagnetic brake
13 0.1 kW6000 r/min 40 SQ.
NoneNone
BWith magnetic brakes
(Note) The motor-end detector has absolute position specifications,but is not equipped
with the capacitor for data backup.
Thus, absolute position is lost immediately after disconnection of the detector cable.
HF-KP 13
(1) J-S17
(1) Rated output · M aximum rotation speed(2) M agne tic brake
Symbol Rated output Maxim u m rotation sp e e d Flange si ze (mm)Sy mbolMagnetic brake
23 0.2 kW6000 r/min 60 SQ.N o neN one
430.4 kW6000 r/m in 60 SQ.BW ith magnetic brake
73 0.75 kW6000 r/min 80 SQ.
P
(1)JW 04-S6(2)
1-2-1 Servomotor type
< HF Series >
224 2.2 kW4000 r/min130 SQ.
354 3.5 kW3500 r/min176 SQ.
Motor type
Rated output
Rated rotation speed
Serial No.
MITSUBISHI
+0276# % 8 ZZZ#
176276ZZ M9
TOKP
5'40QZZ Z Z Z Z ZZ '
Motor rating nameplate
+'%
+2%+(ZZMI
Mi tsubishi Electric Corporation Nagoya Works
Mi tsubishi Electric Dali an Industrial Products Co., Ltd. (MDI)
< HF-KP Series >
HF-K
1 - 3
1 Introduction
MITSUBISHI CNC
1-2-2 Servo drive unit type
MDS-D-SVJ3-
751055410415422420435412322330314230213234373
Stall torque
(
)
R
03NA40mm
●●
04NA40mm
●
07NA60mm
●●●●
10NA90mm
●●●●●
20NA90mm
●●●●
35NA90mm
●
● Indicates the compatible motor for each servo drive unit.
2-4-5 Explanation of each part..................................................................... 2 - 23
2 - 1
2 Specifications
MITSUBISHI CNC
2-1 Servomotor
2-1-1 Specifications list
< HF Series >
HF Series
Servomotor type
HF75HF105HF54HF104HF154HF224HF204HF354
Compatible
servo drive
unit type
Continuous
characteristics
Power facility capacity [kVA]1.52.01.12.02.84.13.76.4
Rated rotation speed [r/min]40003000
Maximum rotation speed [r/min]500040003500
Maximum current [A]14.015.516.829.052.057.052.064.0
Maximum torque [N•m]8.011.013.023.342.046.542.065.0
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
Degree of protectionIP67 (The shaft-through portion is excluded.))
(Note 3)
Flange fitting diameter [mm]φ80φ80φ110φ110φ110φ110φ114.3φ114.3
Shaft diameter [mm]φ14φ14φ24φ24φ24φ24φ35φ35
Mass Without / with brake [kg]2.5/3.94.3/5.74.8/6.86.5/8.58.3/10.310.0/12.012.0/18.019.0/25.0
Heat-resistant class
MDS-D-SVJ3-07NA07NA07NA10NA20NA20NA20NA35NA
Rated output [kW]0.751.00.51.01.52.22.03.5
Rated current [A]2.83.61.83.65.88.56.813.8
Rated torque [N•m]1.82.41.63.24.87.06.411.1
Stall current [A]3.24.63.26.611.014.514.622.0
Stall torque [N•m]2.03.02.95.99.012.013.722.5
12.311.24.18.412.720.710.616.5
2.65.16.111.917.823.738.375.0
2.85.38.314.120.025.948.084.7
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
Ambient temperature
Ambient humidity
AtmosphereIndoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude
Vibration
126.5162.5118.5140.5162.5184.5143.5183.5
(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) The total length will be 3.5mm longer when using an A51 detector.
ABS specifications: HF □ -A51 / -A48
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
2
X,Y:24.5m/s
(2.5G)
Class F (155°C)
X:24.5m/s
Y:29.4m/s
2
(2.5G)
2
(3G)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 - 2
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-1 Servomotor
< HF Series >
HF Series
Servomotor type
Compatible
servo drive
unit type
Continuous
characteristics
Power facility capacity [kVA]2.34.15.52.75.5
Rated rotation speed [r/min]20002000
Maximum rotation speed [r/min]30002000
Maximum current [A]15.529.048.015.529.0
Maximum torque [N•m]17.032.064.026.550.0
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
Degree of protectionP67 (The shaft-through portion is excluded.)
Environment
Flange size [mm]130 SQ.130 SQ.176 SQ.130 SQ.176 SQ.
Total length (excluding shaft) [mm]
(Note 3)
Flange fitting diameter [mm]φ110φ110φ114.3φ110φ114.3
Shaft diameter [mm]φ24φ24φ35φ24φ35
Mass Without / with brake [kg]6.5/8.510.0/12.019.0/25.08.3/10.319.0/25.0
Heat-resistant class
MDS-D-SVJ3-10NA10NA20NA10NA10NA
Rated output [kW]1.22.23.01.43.0
Rated current [A]5.29.010.73.97.8
Rated torque [N•m]5.710.514.36.714.3
Stall current [A]6.410.215.86.410.9
Stall torque [N•m]7.012.022.511.020.0
Ambient temperature
Ambient humidity
AtmosphereIndoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude
Vibration
HF123HF223HF303HF142HF302
27.346.527.325.227.3
11.923.775.017.875.0
14.125.984.720.084.7
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
2
X,Y:24.5m/s
140.5184.5183.5162.5183.5
(2.5G)
ABS specifications: HF □ -A51 / -A48
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
Y:29.4m/s
2
(2.5G)
2
(3G)
X,Y:24.5m/s
2
Class F (155°C)
(2.5G)
X:24.5m/s
Y:29.4m/s
(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) The total length will be 3.5mm longer when using an A51detector.
2
(2.5G)
2
(3G)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 - 3
2 Specifications
MITSUBISHI CNC
< HF-KP Series >
HF-KP Series
Servomotor type
Compatible
servo drive
unit type
Continuous
characteristics
Power facility capacity [kVA]0.40.60.91.5
Rated rotation speed [r/min]3000
Maximum rotation speed [r/min]6000
Maximum current [A]2.314.38.515.5
Maximum torque [N•m]0.951.93.87.2
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 detectorResolution per motor revolution: 260,000 pulse/rev (Note2)
Degree of protectionIP65 (The shaft-through portion is excluded.)
Environment
Flange size [mm]40 SQ. (Note4)60 SQ.60 SQ.80 SQ.
Total length (excluding shaft) [mm]92.898119.9134.2
Flange fitting diameter [mm]φ30φ50φ50φ70
Shaft diameter [mm]φ8φ14φ14φ19
Mass Without / with brake [kg]0.66/0.961.2/1.81.7/2.32.9/4.1
Heat-resistant classClass B (130°C)
MDS-D-SVJ3-03NA03NA04NA07NA
Rated output [kW]0.10.20.40.75
Rated current [A]0.771.42.75.2
Rated torque [N•m]0.320.641.32.4
Stall current [A]0.771.42.75.2
Stall torque [N•m]0.320.641.32.4
Ambient temperature
Ambient humidity
AtmosphereIndoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude
Vibration
(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 - 6
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-2 Spindle motor
2-2 Spindle motor
2-2-1 Specifications
< SJ-D Series (Standard) >
Spindle motor typeSJ-D3.7/100-01SJ-D5.5/100-01SJ-D7.5/100-01SJ-D11/80-01
Compatible
spindle drive
unit type
Output
capacity
Power facility capacity [kVA]6.79.913.419.6
Base rotation speed [r/min]1500150015001500
Maximum rotation speed [r/min]1000010000100008000
Frame No.B90D90A112B112
Continuous rated torque [N•m]14.023.635.047.7
GD2 [kg•m2]
Inertia [kg•m2]
Tolerable radial load [N]980147019601960
Cooling fan
Environment
Degree of protectionIP54 (The shaft-through portion is excluded.)
Flange size [mm]174 SQ.174 SQ.204 SQ.204 SQ.
Total length (excluding shaft) [mm]327417439489
Flange fitting diameter [mm]φ150φ150φ180φ180
Shaft diameter [mm]φ28φ28φ32φ48
Mass [kg]26395364
Heat-resistant classClass F (155°C)
(Note)The tolerable radial load is the value calculated at the center of output shaft.
MDS-D-SPJ3-37NA55NA75NA110NA
Continuous rating [kW]2.23.75.57.5
Short time rating [kW]
Input voltage3-phase 200V
Maximum power
consumption
Ambient temperature
Ambient humidityOperation: 90%RH or less (with no dew condensation ), Storage: 90%RH or less (with no dew conde nsation)
AtmosphereIndoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude
3.7
(15-minute rating)
0.0300.0530.0940.122
0.00740.0130.0230.031
38W38W50W50W
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,
Transportation: 10000 meters or less above sea level
5.5
(30-minute rating)
7.5
(30-minute rating)
11
(30-minute rating)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 - 7
2 Specifications
MITSUBISHI CNC
< SJ-DJ Series (Compact & lightweight specifications) >
Spindle motor typeSJ-DJ5.5/100-01SJ-DJ7.5/100-01SJ-DJ11/100-01
Compatible
spindle drive
unit type
Output
capacity
Power facility capacity [kVA]9.913.419.6
Base rotation speed [r/min]150015001500
Maximum rotation speed [r/min]100001000010000
Frame No.B90D90A112
Continuous rated torque [N•m]17.726.335.8
GD2 [kg•m2]
Inertia [kg•m2]
Tolerable radial load [N]98014701960
Cooling fan
Environment
Degree of protectionIP54 (The shaft-through portion is excluded.)
Flange size [mm]174 SQ.174 SQ.204 SQ.
Total length (excluding shaft) [mm]327417439
Flange fitting diameter [mm]φ150φ150φ180
Shaft diameter [mm]φ28φ28φ32
Mass [kg]263953
Heat-resistant classClass F (155°C)
MDS-D-SPJ3-55NA75NA110NA
Continuous rating [kW]3.75.57.5
Short time rating [kW]
Input voltage3-phase 200V
Maximum power
consumption
Ambient temperature
Ambient humidityOperation: 90%RH or less (with no dew condensation), Storage: 90%RH or less ( with no dew condensation)
AtmosphereIndoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude
5.5
(25%ED rating)
0.0300.0530.094
0.00740.0130.023
38W38W50W
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,
Transportation: 10000 meters or less above sea level
7.5
(15-minute rating)
11
(15-minute rating)
(Note)The tolerable radial load is the value calculated at the center of output shaft.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 - 8
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-2 Spindle motor
< SJ-V Series (Standard) >
Spindle motor typeSJ-VL0.75-01TSJ-VL1.5-01TSJ-V2.2-01TSJ-V3.7-01TSJ-V5.5-01ZT
Compatible
spindle drive
unit type
Output
capacity
Power facility capacity [kVA]1.52.84.16.79.9
Base rotation speed [r/min]15001500150015001500
Maximum rotation speed [r/min]1000010000100001000012000
Frame No.A71B71A90B90D90
Continuous rated torque [N•m]2.554.779.514.023.6
GD2 [kg•m2]
Inertia [kg•m2]
Tolerable radial load [N]490490980980980
Cooling fan
Environment
Degree of protectionIP44
Flange size [mm]130 SQ.130 SQ.174 SQ.174 SQ.174 SQ.
Total length (excluding shaft) [mm]265325300330425
Flange fitting diameter [mm]φ110φ110φ150φ150φ150
Shaft diameter [mm]φ22φ22φ28φ28φ28
Mass [kg]1520253049
Heat-resistant classClass F (155°C)
MDS-D-SPJ3-075NA22NA22NA37NA55NA
Continuous rating [kW]0.40.751.52.23.7
Short time rating [kW]
Input voltageSingle-phase 200VSingle-phase 200VSingle-phase 200VSingle-phase 200VSingle-phase 200V
Maximum power
consumption
Ambient temperature
Ambient humidityOperation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
AtmosphereIndoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude
0.75
(10-minute rating)
0.00530.00960.0270.0350.059
0.00130.00240.0070.0090.0148
14W14W36W36W36W
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,
1.5
(10-minute rating)
Transportation: 10000 meters or less above sea level
2.2
(15-minute rating)
3.7
(15-minute rating)
5.5
(30-minute rating)
(Note)The tolerable radial load is the value calculated at the center of output shaft.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 - 9
2 Specifications
MITSUBISHI CNC
< SJ-V Series (Standard) >
Spindle motor typeSJ-V7.5-01ZTSJ-V7.5-03ZTSJ-V11-01TSJ-V11-01ZT
Compatible
spindle drive
unit type
Output
capacity
Power facility capacity [kVA]13.413.419.619.6
Base rotation speed [r/min]1500150015001500
Maximum rotation speed [r/min]120001000060008000
Frame No.A112A112B112B112
Continuous rated torque [N•m]353547.747.7
GD2 [kg•m2]
Inertia [kg•m2]
Tolerable radial load [N]98098019601960
Cooling fan
Environment
Degree of protectionIP44
Flange size [mm]204 SQ.204 SQ.204 SQ.204 SQ.
Total length (excluding shaft) [mm]440440490490
Flange fitting diameter [mm]φ180φ180φ180φ180
Shaft diameter [mm]φ32φ32φ48φ48
Mass [kg]60607070
Heat-resistant classClass F (155°C)
MDS-D-SPJ3-75NA110NA110NA110NA
Continuous rating [kW]5.55.57.57.5
Short time rating [kW]
Input voltage3-phase 200V3-phase200V3-phase 200V3-phase 200V
Maximum power
consumption
Ambient tempera t u r e
Ambient humidityOperation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
AtmosphereIndoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude
7.5
(30-minute rating)
0.0980.0980.120.12
0.02450.02450.030.03
40W40W40W40W
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,
Transportation: 10000 meters or less above sea level
7.5
(30-minute rating)
11
(15-minute rating)
11
(30-minute rating)
(Note)The tolerable radial load is the value calculated at the center of output shaft.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 - 10
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-2 Spindle motor
< SJ-V Series (High-speed) >
Spindle motor typeSJ-VL2.2-02ZT
Compatible
spindle drive
unit type
Output
capacity
Power facility capacity [kVA]4.1
Base rotation speed [r/min]3000
Maximum rotation speed [r/min]12000
Frame No.B71
Continuous rated torque [N•m]4.77
GD2 [kg•m2]
Inertia [kg•m2]
Tolerable radial load [N]196
Cooling fan
Environment
Degree of protectionIP44
Flange size [mm]130 SQ.
Total length (excluding shaft) [mm]325
Flange fitting diameter [mm]φ110
Shaft diameter [mm]φ22
Mass [kg]20
Heat-resistant classClass F (155°C)
MDS-D-SPJ3-37NA
Continuous rating [kW]1.5
Short time rating [kW]2.2 (15-minute rating)
0.0096
0.0024
Input voltageSingle-phase 200V
Maximum power
consumption
Ambient temperature
Ambient humidityOperation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
AtmosphereIndoors (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: 1000 meters or less above sea level, Storage: 1000 meters or less above sea level
Transportation: 10000 meters or less above sea level
14W
(Note)The tolerable radial load is the value calculated at the center of output shaft.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 - 11
2 Specifications
MITSUBISHI CNC
< SJ-VL Series (Low-inertia) >
Spindle motor typeSJ-VL11-05FZT-S01SJ-VL11-10FZTSJ-VL11-07ZTSJ-VL11-07ZT
Compatible
spindle drive
unit type
Output
capacity
Power facility capacity [kVA]5.56.713.419.6
Base rotation speed [r/min]5000170015002200
Maximum rotation speed [r/min]12000120001200012000
Frame No.B71D90B112B112
Continuous rated torque [N•m]2.812.43532.6
GD2 [kg•m2]
Inertia [kg•m2]
Tolerable radial load [N]980245980980
Cooling fan
Environment
Degree of protectionIP44
Flange size [mm]130 SQ.174 SQ.204 SQ.204 SQ.
Total length (excluding shaft) [mm]335441490490
Flange fitting diameter [mm]φ110φ150φ180φ180
Shaft diameter [mm]φ22φ28φ32φ32
Mass [kg]20407070
Heat-resistant classClass F (155°C)
MDS-D-SPJ3-110NA110NA110NA110NA
Continuous rating [kW]1.52.25.57.5
Short time rating [kW]
Input voltageSingle-phase 200VSingle-phase 200V3-phase 240V3-phase 240V
Maximum power
consumption
Ambient temperature
Ambient humidityOperation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
AtmosphereIndoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude
3
(10-minute rating)
0.00960.0210.0720.072
0.00240.005250.0180.018
14W41W40W40W
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
Transportation: 10000 meters or less above sea level
3.7
(15-minute rating)
7.5
(30-minute rating)
(15-minute rating)
(Note)The tolerable radial load is the value calculated at the center of output shaft.
11
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
Power facility capacity [kVA]0.91.11.8
Rated rotation speed [r/min]6000
Maximum rotation speed [r/min]6000
Maximum current [A]5.511.315.5
Maximum torque [N•m]2.55.06.5
Motor inertia [kg•cm2]
Motor side detector
Degree of protectionIP67 (The shaft-through portion is excluded.)
Environment
Flange size [mm]60 SQ.60 SQ.80 SQ.
Total length (excluding shaft) [mm]118.7140.6149.1
Flange fitting diameter [mm]φ50φ50φ70
Shaft diameter [mm]φ14φ14φ19
Mass [kg]1.21.72.9
Heat-resistant classClass B (130°C)
Rated current [A]1.51.83.6
Rated torque [N•m]0.640.801.43
Ambient temperature
Ambient humidity
AtmosphereIndoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude
Vibration
HF-KP46HF-KP56HF-KP96
0.240.421.43
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
(Note)The above characteristics values are representative values. The maximum current and maximum
torque are the values when combined with the drive unit.
HF-KP □ -W09
Resolution per motor revolution
W09:262,144 pulse/rev
X,Y: 49m/s
2
(5G)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 - 16
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-3 Tool spindle motor
< HF Series >
HF Series
Tool spindle motor type
HF75HF105HF54HF104HF154HF224HF204HF123HF223HF303
Compatible
spindle drive
unit type
Continuous
characteristics
Power facility capacity [kVA]1.52.01.12.02.84.13.72.34.15.5
Rated rotation speed [r/min]400030002000
Maximum rotation speed [r/min]400030002000
Maximum current [A]14.015.516.829.052.057.052.015.529.048.0
Maximum torque [N•m]8.011.013.023.342.046.542.017.032.064.0
Motor inertia [kg•cm2]
Motor side detector
Degree of protectionIP67 (The shaft-through portion is excluded.)
Rated output [kW]0.751.00.51.01.52.22.01.22.23.0
Rated current [A]2.83.61.83.65.88.56.85.29.010.7
Rated torque [N•m]1.82.41.63.24.87.06.45.710.514.3
2.65.16.111.917.823.738.311.923.775.0
Resolution per motor revolution
Ambient temperature
Ambient humidity
AtmosphereIndoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude
Vibration
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:19.6m/s
HF □ -A48
A48:262,144 pulse/rev
2
(2G) Y:19.6m/s2(2G)
(Note)The above characteristics values are representative values. The maximum current and maximum
torque are the values when combined with the drive unit.
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 - 17
2 Specifications
MITSUBISHI CNC
2-3-2 Output characteristics
0.0
0.5
1.0
1.5
2.0
2.5
3.0
0200040006000
Torque [N・m]
Rotation speed [r/min]
Continuous
operation range
0.0
1.0
2.0
3.0
4.0
5.0
6.0
0200040006000
Torque [N・m]
Rotation speed [r/min]
Continuous
operation range
0.0
2.0
4.0
6.0
8.0
0200040006000
Torque [N・m]
Rotation speed [r/min]
Continuous
operation range
< HF-KP Series >
[ HF-KP46JW09 ][ HF-KP56JW09 ][ HF-KP96JW09 ]
Short time operation range
Short time operation range
Short time operation range
(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 - 18
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-3 Tool spindle motor
< HF Series >
02000
0
2.5
5
7.5
10
4000
Rotation speed [r/min]
Torque [N㨯m]
Short time operation range
Continuous operation range
0
3
6
9
12
020004000
Rotation speed [r/min]
Torque [N㨯m]
Short time operation range
Continuous operation range
020003000
0
10
40
50
30
20
1000
Rotation speed [r/min]
Torque [N㨯m]
Short time operation range
Continuous operation range
020003000
0
10
2
0
40
30
50
1000
Torque [N・m]
Rotation speed [r/min]
Continuous operation range
01000
2000
0
5
10
15
20
Torque [N・m]
Rotation speed [r/min]
Short time operation range
01000
0
10
20
30
40
2000
Rotation speed [r/min]
[N㨯m]
Torque
20
40
60
80
1000
2000
0
0
Torque [N・m]
Short time operation range
Rotation speed [r/min]
15
[ HF75 ][ HF105 ]
[ HF54 ][ HF104 ][ HF154 ]
25
12
9
Short time operation range
6
Torque [N㨯m]
3
Continuous operation range
0
0 20003000
1000
Rotation speed [r/min]
20
15
Short time operation range
10
Torque [N㨯m]
5
Continuous operation range
0
020003000
1000
Rotation speed [r/min]
[ HF224 ][ HF204 ][ HF123 ]
50
40
Short time operation range
30
20
Torque [N㨯m]
10
0
Short time operation range
Continuous operation range
0 2000 3000
1000
Rotation speed [r/min]
Continuous
operation range
[ HF223 ][ HF303 ]
Short time operation range
Continuous
operation range
Continuous
operation range
(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 - 19
2 Specifications
MITSUBISHI CNC
2-4 Drive unit
2-4-1 Installation environment conditions
Common installation environment conditions for servo and spindle are shown below.
Environment
Ambient temperature
Ambient humidity
Atmosphere
AltitudeOperation/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)
2
(0.5G) / 49m/s2 (5G)
4.9m/s
2-4-2 Servo drive unit
Servo drive unit MDS-D-SVJ3 Series
Servo drive unit type
MDS-D-SVJ3-
Rated output [kW]0.30.40.71.02.03.5
Rated voltage [V]200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation: between +10% and -15%
Input
Output
Control power
Earth leakage current [mA]1 (Max. 2)
Main circuit method Converter with resistor regeneration circuit
Control method Sine wave PWM control method
Braking
External analog output0 to +5V, 2ch (data for various adjustments)
Degree of protectionProtection type (Protection method: IP20 [over all])
Cooling methodNatural-coolingForced wind cooling
Mass [kg]0.81.01.42.32.32.3
Heat radiated at rated output [W]25355090130195
NoiseLess than 55dB
Unit outline dimension drawingJ1J2J3J4aJ4aJ4b
Frequency [Hz]50/60 Tolerable fluctuation: between +5% and -5%
Rated current [A]1.52.93.85.010.516.0
Rated voltage [V]AC155
Rated current [A]1.53.25.86.011.017.0
Voltage [V]200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation: between +10% and -15%
Frequency [Hz]50/60 Tolerable fluctuation: between +5% and -5%
Maximum current [A]0.2
Maximum rush current [A]30
Maximum rush conductivity
time [ms]
Dynamic brakes Built-in
03NA04NA07NA10NA20NA35NA
6
Regenerative braking and dynamic brakes
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 - 20
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-4 Drive unit
2-4-3 Spindle drive unit
Spindle drive unit MDS-D-SPJ3 Series
Spindle drive unit type
MDS-D-SPJ3-
Rated output [kW]0.752.23.75.57.511.0
Rated voltage [V]200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation: between +10% and -15%
Input
Output
Control
power
Earth leakage current [mA]6 (Max. 15)
Main circuit method Converter with resistor regeneration circuit
Control method Sine wave PWM control method
BrakingRegenerative braking
External analog output0 to +5V, 2ch (data for various adju st m en ts )
Degree of protectionIP20 IP00
Cooling methodForced wind cooling
Mass [kg]1.42.12.14.64.66.5
Heat radiated at
continuous rated output [W]
NoiseLess than 55dB
Unit outline dimension drawingJ3J4aJ4bJ5J5J6
Frequency [Hz]50/60 Tolerable fluctuation: between +5% and -5%
Rated current [A]2.69.010.516.016.035.4
Rated voltage [V]155AC
Rated current [A]4.510.011.018.026.036.0
Voltage [V]200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation: between +10% and -15%
Frequency [Hz]50/60 Tolerable fluctuation: between +5% and -5%
Maximum current [A]0.2
Maximum rush current [A]30
Maximum rush conductivity
time [ms]
075NA22NA37NA55NA75NA110NA
6
5090130150200300
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 - 21
2 Specifications
MITSUBISHI CNC
2-4-4 Unit outline dimension drawing
㧶㧟
㧶㧞
㧶㧝
㧶㧡
㧶㧢
㧶㧠D
㧶㧠C
㧔㧕
Unit[mm]
2 - 22
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-4 Drive unit
2-4-5 Explanation of each part
(1) Explanation of each servo drive unit part
(1)
(2)
(3)
(10)
(10)
(11)
(12)
(4)
(5)
(6)
(11)
(10)
(12)
(12)
(7)
(11)
(13)
MDS-D-SVJ3-35NA
(13)
MDS-D-SVJ3-03NA/04NA/07NA
(8)
(9)
(13)
MDS-D-SVJ3-10NA/20NA
The connector and terminal block layout may differ according to the unit being used. Refer to each unit
outline drawing for details.
<Each part name>
NameDescriptionScrew size
(1)
(2)SW1---Axis No. setting switch---
(3)SW2---For machine tool builder adjustment: Always OFF (facing bottom)---
(4)CN9---DI/O or maintenance connector---
Control
(5)CN1A---NC or master axis optical communication connector---
circuit
(6)CN1B---Slave axis optical communication connector---
(7)CN2---Motor side detector connection connector---
(8)CN3---Machine side detector connection connector---
(9)BAT---Battery connection connector---
(10)
Main circuit
(11)CNP2
(12)CNP3U, V, W Motor power supply output connector (3-phase AC output)---
(13)PEGrounding terminalM4 x 10
LED---Unit status indication LED---
CNP1
L1,L2,L3
N,P1,P2
P,C,D
L11,L21
L1,L2,L3: 3-phase AC power input
N: Test terminal for the manufacturer (Do not connect.)
P1,P2: Not used (short-circuit between the P1 and P2.)
Regenerative resistor connection terminal
Control power input terminal (single-phase AC input)
---
---
CAUTION
Do not connect the N terminal of CNP1 because it is the test terminal for the manufacturer.
2 - 23
2 Specifications
MITSUBISHI CNC
(2) Explanation of each spindle drive unit (0.75 to 3.7kW) part
MDS-D-SPJ3-37NA
(9)
(10)
(11)
MDS-D-SPJ3-075NA
(10)
(9)
(11)
(12)
(2)
(3)
(5)
(6)
(8)
(7)
(4)
(12)
MDS-D-SPJ3-22NA
(10)
(9)
(11)
(12)
CAUTION
(1)
The connector and terminal block layout may differ according to the unit being used. Refer to each unit
outline drawing for details.
<Each part name>
NameDescriptionScrew size
(1)
(2)SW1---Axis No. setting switch---
(3)SW2---For machine tool builder adjustment: Always OFF (facing bottom)---
(4)CN9---DI/O or maintenance connector---
Control
circuit
(5)CN1A---NC or master axis optical communication connector---
(6)CN 1B---Slave axis optical communication connector---
(7)CN2---Motor side detector connection connector---
(8)CN3---Machine side detector connection connector---
(9)
Main circuit
(10)CNP2
(11)CNP3U, V, WMotor power output terminal (3-phase AC output)---
(12)PEGrounding terminalM4×10
LED---Unit status indication LED---
CNP1
L1,L2,L3
N,P1,P2
P,C,D
L11,L21
L1,L2,L3: 3-phase AC power input
N: Test terminal for the manufacturer (Do not connect.)
P1,P2: Not used (short-circuit between the P1 and P2.)
Regenerative resistor connection terminal
Control power input terminal (single-phase AC input)
---
---
2 - 24
Do not connect the N terminal of CNP1 because it is the test terminal for the manufacturer.
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-4 Drive unit
(3) Explanation of each spindle drive unit (5.5 to 11kW) part
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
MDS-D-SPJ3-55NA/75NA
(10)
(9)
(11)
MDS-D-SPJ3-110NA
The connector and terminal block layout may differ according to the unit being used. Refer to each unit
outline drawing for details.
<Each part name>
NameDescriptionScrew size
(1)
(2)SW1---Axis No. setting switch---
(3)SW2---For machine tool builder adjustment: Always OFF (facing bottom)---
(4)CN9---DI/O or maintenance connector---
Control
circuit
(5)CN1A---NC or master axis optical communication connector---
(6)CN1B---Slave axis optical communication connector---
(7)CN2---Motor side detector connection connector---
(8)CN3---Machine side detector connection connector---
(9)
(10)TE1
Main circuit
(11)PEGrounding terminalM4×10
LED---Unit status indication LED---
TE2L11,L21Control power input terminal (single-phase AC input)M3.5×6
L1,L2,L3
P,C
U, V, W
L1,L2,L3: 3-phase AC power input
P,C: Regenerative resistor connection terminal
U,V,W: Motor power output terminal (3-phase AC output)
M4×10
2 - 25
2 - 26
付録
3
章
3 - 1
Contents
3
Function Specifications
Function specifications list .....................................3 - 2
(OMR-DD control)
2-8 Dual feedback control●●●●●
2-10 Control loop gain changeover●●●●●
2-11 Spindle output stabilizing control●●●●●
2-12 High-response spindle acceleration/decel-
eration function
3-1 Jitter compensation●●●●●
3-2 Notch filter
3-4 Overshooting compensation●●●●●
3-6 Lost motion compensation type 2●●●●●
3-7 Lost motion compensation type 3●● ---
3-9 Spindle motor temperat u r e compensation
function
4-1 Deceleration control at emergency stop●●●●●
4-3 Earth fault detection●●●●●
4-5 Safety observation function●●●●●
5-1 Contactor control functionMDS-D-CVMDS-DH-CVMDS-D-CV●●
5-3 External emergency stop functionMDS-D-CVMDS-DH-CVMDS-D-CV●●
5-4 Specified speed output●●●● -
5-5 Quick READY ON sequence●●●● -
6-1 Monitor output function●●●●●
6-2 Machine resonance frequency display func-
tion
6-3 Machine inertia display function●●●●●
6-4 Motor temperature display function●●●●●
6-5 Load monitor output function●●●●● (Note)
6-6 Open loop control function●●●●●
(Note)The motor output effective value cannot be displayed.
MDS-DH-
SP
Variable
frequency: 4
Fixed
frequency: 1
MDS-D-
SP2
Variable
frequency: 4
Fixed
frequency: 1
MDS-DMSPV2F/3F
MDS-DM-
SPV2/3
Variable
frequency: 4
Fixed
frequency: 1
MDS-D-
SPJ3
Variable
frequency: 4
Fixed
frequency: 1
3 - 3
3 Function Specifications
MITSUBISHI CNC
3-1 Base functions
+
+
+
--
-
NC
Position
command
Full closed loop control
Position
command
Current
command
Voltage
command
Speed FB
Current FB
Position FB
Servo
motor
Table
Linear scale
The ball screw side
detector is also applied.
3-1-1 Full closed loop control
The servo control is all closed loop control using the detector's feedback. "Full closed loop control" is the
system that directly detects the machine po sitio n us ing a linear scale, whereas the general "semi-closed
loop" is the one that detects the motor position.
In a machine that drives a table with a ball screw, the following factors exist between the motor and table
end:
(1) Coupling or ball screw table bracket's backlash
(2) Ball screw pitch error
These can adversely affect the accuracy. If the table position of the machine side is directly detected with a
linear scale, high-accuracy position control which is not affected by backlash or pitch error is possible.
IG VGN PGN
ENC
3-1-2 Position command synchronous control
This is one of the controls which enable two servo motors to drive the same axis. This is also called "Position
tandem control"
The same position command is issued to the 2-axis servo control, an d the control is carr ied out a ccordi ng to
each axis' position and speed feedbacks.
<Features>
(1) The position commands in which machine's mechanical errors (pitch error, backlash, etc.) have
been compensated, can be output to each axis.
(2) Each axis conducts independent position control, therefo re the machine posture can be kept
constant.
(3) Deviation between the two axes is always monitored, and if excessive, the alarm is detected.
CNC
Compen
Program
Same position command
-sation
Compen
-sation
Position
control
Position
control
+
Speed
control
-
S
+
Speed
control
-
S
+
-
+
-
Current
control
Current
control
Primary axis
M
Detector
Secondary axis
M
Detector
3 - 4
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-1 Base functions
3-1-3 Speed command synchronous control
This is one of the controls which enable two servo motors to drive the same axis. This is also called "Speed
tandem control".
The same position command is issued to the 2-axis servo control, and the control is carr ied out accor ding to
each axis' position and speed feedbacks.
This function is usually used when the control is performed with one linear scale during the full closed loop
control.
<Features>
(1) The position commands in which machine's mechanical errors (pitch error, backlash, etc.) have
been compensated, can be output to each axis.
(2) Each axis conducts independent position control, therefore the machine posture can be kept
constant.
(3) Deviation between the two axes is always monitored, and if excessive, the alarm is detected
Current
control
Current
control
Primary axis
M
Detector
Secondary axis
M
Detector
CNC
Compen
Program
Same position command
Same position FB
-sation
+
-
Same speed command
+
-
Position
control
Position
control
+
-
S
+
-
S
Speed
control
Speed
control
3-1-4 Distance-coded reference position control
This is the function to establish the reference point from axis movements of the reference points using a
scale with distance-coded reference mark.
Since it is not necessary to move the axis to the reference point, the axis movement amount to establish the
reference point can be reduced.
No dog is used as the position is calculated using reference marks. This function can not be used for the
linear servomotor and direct-drive motor.
If the distance-coded reference check function is used to verify the motor en d dete ctor data, select a ba ttery
option before setting the parameter.
3 - 5
3 Function Specifications
MITSUBISHI CNC
3-1-5 Spindle's continuous position loop control
10.8
Zero point
return
C-axis
positioning
<Our conventional series>
<MDS-D/DH/DM Series>
C-axis
positioning
Time reduced
Time
Time
TimeTime
SpeedSpeed
SpeedSpeed
Reduced by 20%
Orientation
C-axis changeover
<Our conventional series>
<MDS-D/DH/DM Series>
Under this control, position loop control is always applied to spindle, including when speed command is
issued (in cutting). There is no need for control changeover nor zero point return during orientation and C
axis control changeover. Therefore, the operation can be completed in a shorter time than the previous.
In acceleration/deceleration with S comm a nd, th e acceleration/deceleration and orientation are always
controlled with the spindle motor's maximum torque.
3 - 6
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-1 Base functions
3-1-6 Coil changeover control
A signal output from the spindle drive unit controls the changeover of the low-speed and high-speed
specification coils in a spindle motor.
The drive unit automatically outputs the coil changeover sequence in accordance with the motor speed.
3-1-7 Gear changeover control
This function enables a spindle motor to perform both high-speed light cutting and low-speed heavy cutting
by changing the gear ratio between the motor and spindle.
The gear change is carried out while the spindle is not running.
3-1-8 Orientation control
This control enables a spindle motor to stop at a designated angle when the m otor is rotating at a hi gh-speed
with a speed command. This control is used for exchanging the tools in machining centers and performing
index positioning in lathes, etc.
3-1-9 Indexing control
This control enables positioning of a spindle motor at an arbitrary angle (in incremen ts of 0.01 degrees) fr om
the orientation stop position. This control is used for positioning in lathes for hole drilling, etc.
3-1-10 Synchronous tapping control
Under synchronous tapping control, spindle control is completely synchronized with Z axis servo control, and
Z axis is accurately fed by one screw pitch in accordance with one tap revolution. The tap is completely fixed
to the spindle head. As a result, feed pitch error is less likely to occur, which allows high-speed, highaccuracy and high-durable tapping.
3-1-11 Spindle synchronous control
This control enables two spindles to run at the same speed. A spindle being dr iven with a speed command is
synchronized with another spindle at a constant rate or acceleration/deceleration rate.
This control is applied such as when a workpiece is transferred between two rotating chucks in lathe or a
workpiece is held with two chucks.
3-1-12 Spindle/C axis control
An axis rotating about Z axis is called C axis, whose rotation direction is normally the same as of spindle.
This function enables high-accuracy spindle control including interpolation control, like servo axis, when a
high-resolution position detector is attached to the spindle motor.
3-1-13 Proximity switch orientation control
Orientation control is carried out based on the leading edge position of the proximity switch output signal
(ON/OFF).
3 - 7
3 Function Specifications
MITSUBISHI CNC
3-2 Servo/Spindle control functions
0
VLMTVCS
VGN2
VGN1
0
VGVSVLMT
VGVN
VGN1
(VGN2)
0
VGVSVLMT
VGVN
VGN1
(VGN2)
(VLMT=Max. speed x 1.15)(VLMT=Max. speed x 1.15)
3-2-1 Torque limit function
This control suppresses the motor output tor que with the parameter values (SV013, SV014).
This function is used for stopper positioning control and stopper reference position establishment, by
switching the two setting values.
3-2-2 Variable speed loop gain control
< Servo >
If disturbing noise occurs when the motor is rotating at a high speed, such as du ring rapid tr aver se, the h igh
speed loop gain during high-speed rotation can be lowered with this function.
VGN1:SV005
VGN2:SV006
VCS:SV029
VLMT: Servomotor maximum speed x 1.15
< Spindle >
For a high-speed spindle of machining center etc., adequate response can be ensured with this function by
suppressing noise and vibration at low speeds and increasing the speed loop gain at high-speeds.
VGN1:SP005
VGN2:SP008
VGVN:SP073
VGVS:SP074
VLMT: Spindle maximum speed x 1.15
3-2-3 Gain changeover for synchronous tapping control
SV003, SV004 and SV057 are used as the position loop gain for normal control. Under synchronous tapping
control, SV049, SV050 and SV058 are used instead to meet the spindle characteristics.
Spindle
Servo axis
Material
3 - 8
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-2 Servo/Spindle control functions
3-2-4 Speed loop PID changeover control
−4000
−3000
0 0.5
11.5 22.5 3 3.5
−2000
−1000
1000
2000
3000
4000
0
−4000
−3000
0 0.5
11.5 22.5 3 3.5
−2000
−1000
1000
2000
3000
4000
0
(r/min)(r/min)
SpindlespeedSpindlespeed
SpindlespeedSpindlespeed
Servo/Spindle
synchronous error
(sec)(sec)
Servo/Spindle
synchronous error
〈WithoutOMR-DDcontrol〉〈
With OMR-DD control
〉
This function is used under full-closed loop control. Normally, machine-end position tracking delays
compared with the motor-end position.
Under full-closed position loop control, machine-end position is used for position feedback. Therefore, the
motor-end position tends to advance too much, which may cause overshooting of the machine-end position.
This function can suppress the generation of overshoo t by adding the D ( delay ) control to th e spee d control,
which is normally controlled with PI (proportional integral), in order to weaken the PI control after the position
droop becomes 0.
3-2-5 Disturbance torque observer
The effect caused by disturbance, frictional resistance or torsion vibration during cutting can be reduced by
estimating the disturbance torque and compensating it.
3-2-6 Smooth High Gain control (SHG control)
A high-response control and smooth control (reduced impact on machine) were conventionally conflicting
elements; however, SHG control enables the two elements to function simultaneously by controlling the
motor torque (current FB) with an ideal waveform during acceleration/deceleration.
Speed
SHG control
Conventional control
Time
Position loop step response
3-2-7 High-speed synchronous tapping control (OMR-DD control)
Servo drive unit detects the spindle position, and compensates the synchronization errors. This control
enables more accurate tapping than the previous.
3 - 9
3 Function Specifications
MITSUBISHI CNC
3-2-8 Dual feedback control
+
+
+
-
-
-
Position FB
Position FB
Dual feedback control
Low
frequency FB
element
0[r/min]
0[r/min]
0[r/min]0[r/min]
HAS control will catch up
the delay of position.
Speed feedback
1% or less than
maximum speed
Speed command
Overshoot will occur to
catch up the delay of position.
Speed command
Speed feedback
During current limit
During current limit
HAS control is disabled.
HAS control is enabled.
This function is used under full-closed loop control.
When a linear scale is used, the machine-end position, such as a table, is directly detected, which may
render the position loop control unstable.
With this control, however, high-frequency components are eliminate d from the machine-end feedback
signals, which will lead to stable control.
Table
Linear scale
Position
command
Position droop
High frequency
FB element
Primary
delay filter
SV051
Position control
Speed
command
Servo
motor
ENC
3-2-9 HAS control
If the torque output during acceleration/deceleration is close to the servo motor' s maximum torque, the mo tor
cannot accelerate with the commanded time constant when the torque is saturated due to input voltage
fluctuation, etc. As a result, speed overshoot occurs when a constant speed command is issued, because
the position droop for the delay is canceled.
With HAS control, however, this overshoot is smoothened so that the machine operation can be stable.
3-2-10 Control loop gain changeover
Position loop gain and speed loop gain are switched between non-interpolation mode, which is used during
speed command, and interpolation mode, which is used during synchronous tapping and C axis control. By
switching these gains, optimum control for each mode can be realized.
3 - 10
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-2 Servo/Spindle control functions
3-2-11 Spindle output stabilizing control
Spindle motor's torque characteristic is suppressed due to voltage saturation in the high-speed rotation
range, therefore the current control responsiveness significantly degrades, which may cause excessive
current.
With this control, however, the current and flux commands are compensated to avoid the voltage saturation
so that the current control responsiveness will not degrade.
3-2-12 High-response spindle acceleration/deceleration function
This function enables reduction of the spindle motor's setting time (from whe n the command value be comes
0 until when the motor actually stops) without being affected by the position loop gain, when the spindle
motor stops under deceleration stop control using the S command.
This function is not active when the spindle is stopped while performing position con trol, such as orientation
control and synchronous tapping control.
3 - 11
3 Function Specifications
MITSUBISHI CNC
3-3 Compensation controls
3-3-1 Jitter compensation
The load inertia becomes much smaller than usual if the motor position enters the machine backlash when
the motor is stopped.
Because this means that an extremely large VGN1 is set for the load inertia, vibration may occur.
Jitter compensation can suppress the vibration that occurs at the motor stop by ignoring the backla sh
amount of speed feedback pulses when the speed feedback polarity changes.
3-3-2 Notch filter
This filter can damp vibrations of servo torque commands at a specified frequency.
Machine vibrations can be suppressed by adjusting the notch filter frequency to the machine's resonance
frequency.
Filter depth adjustment is also available that allows stable control even when the filter is set to an extremely
low frequency.
<Specifications>
Notch filterFrequencyDepth compensation
Notch filter 150Hz to 2250HzEnabled
Notch filter 250Hz to 2250HzEnabled
Notch filter 3Fixed at 1125HzDisabled
Notch filter 450Hz to 2250HzEnabled
Notch filter 550Hz to 2250HzEnabled
+20
Gain
[dB]
Gain
[dB]
0
-20
-40
103050 70 100300 500 700 1k
Example of filter characteristic set to 300Hz
+20
0
-20
-40
103050 70 100300 500 700 1k
For shallow setting by additionally using the depth compensation at 300Hz
Frequency
[Hz]
Frequency
[Hz]
3-3-3 Adaptive tracking-type notch filter
Machine's specific resonance frequency tends to change due to aged deterioration or according to
machine's operation conditions. Therefore, the frequency may be deviated from the filter frequency set at th e
initial adjustment. With adaptive tracking-type notch filter, resonance point fluctuation due to the machine's
condition change is estimated using the vibration components of the cu rr ent comman ds, and effective notch
filter frequency, which has been deviated from the setting value, is automatically corrected to suppress the
resonance.
3 - 12
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-3 Compensation controls
3-3-4 Overshooting compensation
0
t
[1] Overshooting during rapid traverse settling[2] Overshooting during pulse feed
Compensation
Electric end FB
Machine end FB
Electric end FB
Normal control
Machine end FB
Machine end compensation
Electric end FB
Machine end FB
Spindle head
Program path
Command is issued
in the inner side
during high-speed
feed.
During high-speed
feed, the machine end
swells outward due to
the spring effect.
Since a command is
issued in the inner side
by the amount of spring
effect, the shape keeps
fine even during the
high-speed feed.
The phenomenon when the machine position goes past or exceeds the command during feed stopping is
called overshooting.
In OVS compensation, the overshooting is suppressed by subtracting the torque command set in the
parameters when the motor stops.
Speed
FB
Position
droop
0
Overshoot
Time
Position
command
Position
droop
0
0
Overshoo
Time
3-3-5 Machine end compensation control
The shape of the machine end during high-speed and high-speed acceleration operation is com pensated by
compensating the spring effect from the machine end to the motor end.
The shape may be fine during low-speed operation. However, at high speed s, the section fro m th e mach ine
end to the outer sides could swell. This function compensates that phenomenon.
3 - 13
3 Function Specifications
MITSUBISHI CNC
3-3-6 Lost motion compensation type 2
+Y
+Y
+X
+X
3μm
Servo motor always drives the machine opposing to the frictional force, and the torque which is required to
oppose the friction during the axis movement is outputted by I control (Integral control) of the speed loop PI
control. When the movement direction is changed, the frictional force works in the opposite direction
momentarily, however, the machine will stop while the command torque is less than the frictional force as it
takes some time to reverse the command torque in I control.
When the movement direction is changed, the frictional force works in the opposite direction momentarily,
however, the machine will stop while the command torque is less than the frictional force as it takes some
time to reverse the command torque in I control.
With the this lost motion compensation function improves the accuracy worsened by the stick motion.
No compensationWith compensation
3-3-7 Lost motion compensation type 3
For a machine model where the travel directio n is reve r sed , th e com p en sa tio n in acco rd an ce with th e
changes in the cutting conditions is enabled by also considering the spring component and viscosity
component in addition to the friction.
This function can be used to accommodate quadrant projection changes that accompany feed rate and
circular radius changes which could not be compensated by Lost motion compensation type 2.
1.Mechanical spring elements can't be ignored.
2.Changes between static and dynamic frictions are
wide and steep.
Conventional control can’t perform enough compensation.
Not only frictions but spring element and viscosity element can
be compensated, thus quadrant protrusions are suppressed
within a wide band.
Conventional compensation controlLost motion compensation control type 3
3 - 14
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-3 Compensation controls
3-3-8 Lost motion compensation type 4
1.50
1.60
1.70
1.80
1.90
2.00
2.10
2.20
2.30
2.40
2.50
100
20406080
Stator(thermistor)temperature[℃]
S12000 Acceleration/deceleration time
[s]
With compensation
[Acceleration]
With compensation
[Deceleration]
Without compensation
[Acceleration]
Without compensation
[Deceleration]
Effectofsuppressing
acceleration/deceleration
timefluctuation
When the difference between static and dynamic friction is large, the friction torque changes sharply at the
inversion of the travel direction. When the lost motion type 4 is used together with the type 2 or type 3, the
acute change of the friction torque is compensated so that the path accuracy at the travel direction inversion
can be enhanced.
3-3-9 Spindle motor temperature compensation function
As for the low-temperature state of the IM spindle motor, the output characteristic may deteriorate in
comparison with the warm-up state and the acceleration/deceleration time may become long, or the load
display during cutting may become high immediate ly after operation. This function performs the control
compensation depending on the motor temperature with the thermistor built into the spindle motor and
suppresses the output characteristic deterioration when the temperature is low. Temperature compensation
function is not required for IPM spindle motor in principle.
3 - 15
3 Function Specifications
MITSUBISHI CNC
3-4 Protection function
3-4-1 Deceleration control at emergency stop
When an emergency stop (including NC failure, servo alarm) occurs, the motor will decelerate following the
set time constant while maintaining the READY ON state.
READY will turn OFF and the dynamic brakes will function after stopping. The deceleration stop can be
executed at a shorter distance than the dynamic brakes.
3-4-2 Vertical axis drop prevention/pull-up control
If the READY OFF and brake operation are commanded at same time when an emerg ency stop occu rs, the
axis drops due to a delay in the brake operation.
The no-control time until the brakes activate can be eliminated by delaying the servo READY OFF sequence
by the time set in the parameters.
Always use this function together with deceleration control.
When an emergency stop occurs in a vertical machining center, the Z axis is slightly pulled upwards before
braking to compensate the drop of even a few μm caused by the brake backlash.
Motor brake of
gravity axis
Spindle
During power failure
Pull up
3-4-3 Earth fault detection
When an emergency stop is canceled, the earth fault current is measured using the power module's special
switching circuit before Servo ready ON.
Specifying the faulty axis is possible in this detection, as the detection is carried out for each axis.
3 - 16
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-4 Protection function
3-4-4 Collision detection function
Collision detection function quickly detects a collision of the motor shaft, and decelerates and stops the
motor. This suppresses the generation of an excessive torque in the machine tool, and helps to prevent an
abnormal state from occurring.Impact at a collision will not be prevented by using this collision detection
function, so this function does not necessarily guarantee that the machine tool will not be damaged or that
the machine accuracy will be maintained after a collision.
The same caution as during regular operation is required to prevent the machine from colliding.
Collision detection function outline
(a) A collision of machine is detected.
(b) A retracting torque is generated.
The collision of machine is reduced.
3-4-5 Safety observation function
This function is aimed at allowing a safety access to the machine's working part by opening the protection
door, etc. without shutting the power for saving the setup time.
Both the NC control system and drive system (servo and spindle drive units) doubly observe the axis feed
rate so that it will not exceed the safety speed. If it exceeds the set safety speed, emergency stop occurs
and the power is shut OFF.
NC CPU
Speed observation
Command speed
observation
Position
speed
command
FB speed observationFB speed observation
Drive CPU
Servo control
Speed observation
Command speed
observation
Current
command
Speed F/B
Motor detector
3 - 17
3 Function Specifications
MITSUBISHI CNC
3-5 Sequence functions
MDS-D-SVJ3/SPJ3
MDS-D-SVJ3/SPJ3
CN1B
DOCOM
EMGX
DICOM
DOCOM
EMGX
DICOM
24G
MDS-D-SVJ3/SPJ3
MDS-D-SVJ3/SPJ3
CN1B
DOCOM
EMGX
DICOM
DOCOM
EMGX
DICOM
(1)
(2)
24G
24G
Mitsubishi NC
Emergency
stop
Emergency
stop
Alarm
Alarm
Optical
communication
G380 cable
Optical
communication
G396 cable
24VDC
External emergency
stop input
Contactor
shutoff
command
Contactor
shutoff
command
24VDC
External emergency stop switch
*Emergency stop when opened.
*Operated synchronously on the NC
side using another contact.
(Note1) Make sure that DICOM is connected to 24V in all drive systems.
(Note2) Make sure that 24G is connected to the external emergency stop switch.
(Note3) Make sure that the contact of the external emergency stop switch is not
the same as NC.
Mitsubishi NC
Emergency
stop
Emergency
stop
Alarm
Alarm
Optical
communication
G380 cable
Optical
communication
G396 cable
External emergency
stop input
Contactor
shutoff
command
Contactor
shutoff
command
External emergency stop switch
*Emergency stop when opened.
*Operated synchronously on the NC
side using another contact.
(Note1) Make sure that DICOM is connected to 24G in all drive systems.
(Note2) Make sure that 24V is connected to the external emergency stop switch.
(Note3) Make sure that the contact of the external emergency stop switch is not
the same as NC.
When DICOM is connected to 24V
When DICOM is connected to 24G
External power supply
is required for output.
Open collector
24VDC
Select the polarity of DICOM
3-5-1 Contactor control function
With this function, the contactor ON/OFF command is output from the power supply unit (or servo/spindle
drive unit for integrated type) based on the judgement as to wh ether it is in emergency stop, emergency sto p
cancel, spindle deceleration and stop or vertical axis drop prevention control, etc.
3-5-2 Motor brake control function
With this function, the brake ON/OFF command is output from the servo drive unit based on the judgement
as to whether it is in emergency stop, emergency stop cancel or vertical axis drop prevention/pull-up contro l,
etc.
When a multiaxis drive unit is connected, all the axes are simultaneously controlled.
3-5-3 External emergency stop function
Besides the emergency stop input from the NC, double-protection when an emergency stop occurs can be
provided by directly inputting an external emergency stop, which is a second emergency stop input, to the
power supply unit (servo/spindle drive unit for integrated type).
Even if the emergency stop is not input from NC for some reason, the contactors will be activated by the
external emergency stop input, and the power can be shut off.
3 - 18
OPT1
EMG
OPT1
EMG
CN1A
CN1A
CN9
CN9
15
13 DO
3
20
19 DI
5
15
13 DO
3
20
19 DI
5
MC
MC
CN1A
CN1A
CN9
CN9
15
MC
13 DO
3
20
19 DI
5
15
MC
13 DO
3
20
19 DI
5
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-5 Sequence functions
3-5-4 Specified speed output
This function is to output a signal that indicates whet he r th e mach ine -e n d sp ee d ha s exc ee d ed the spe ed
specified with the parameter.
With this function, the protection door, etc. can be locked to secure the machine operator when the machineend speed has exceeded the specified speed. This function can al so be used for judgi ng whether the cur rent
machine-end speed is higher than the specified speed.
3-5-5 Quick READY ON sequence
With this function, the charging time during READY ON is shortened according to the remaining charge
capacity of the power supply unit. When returning to READY ON status immediately after the emergency
stop input, the charging time can be shortened according to the remaining charge capacity and the time to
READY ON is shortened.
3 - 19
3 Function Specifications
MITSUBISHI CNC
3-6 Diagnosis function
MO1
LG
CN9
MO2
LG
MDS-D-SVJ3
connector
Pin
NamePin Name
+2.5 [V]
0 [V]
Speed FB
Current FB
+2.5 [V]
0 [V]
+5 [V]
+5 [V]
Example of D/A output waveform
3-6-1 Monitor output function
<Servo drive unit>
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 high-speed
waveform recorder, oscilloscope, etc.
(1) D/A output specifications
1
2
3
4
5
6
7
8
10
11
9
12
13
14
15
16
17
18
19
20
ItemExplanation
No. of channels2ch
Output cycle0.8ms (min. value)
Output precision10bit
Output voltage range0V to 2.5V (zero) to +5V
Output magnification setting-327 68 to 32767 (1/100-fold)
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.
3 - 20
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-6 Diagnosis function
(2) Output data settings
(Standard output)
【#2261】 SV061 DA1NO D/A output ch1 data No.
Input the data number you wish to output to the D/A output channel 1.
When using the 2-axis drive unit, set "-1" to the axis that the data will not be output.
---Setting range---
-1 to 127
【#2262】 SV062 DA2NO D/A output ch2 data No.
Input the data number you wish to output to the D/A output channel 2.
When using the 2-axis drive unit, set "-1" to the axis that the data will not be output.
---Setting range---
-1 to 127
No.Output data
-1D/A output not selected
0Commanded rotation speed1000(r/min)/V0.8ms
1Motor rotation speed1000(r/min)/V0.8ms
2Torque commandMotor stall rated ratio 100%/V0.8ms
3Torque feedbackMotor stall rated ratio 100%/V0.8ms
6Effective current command100%/V0.8ms
7Effective current feedback100%/V0.8ms
8Machine vibration frequency500Hz/V0.8ms
9HAS control droop cancel amount1mm/V1°/V0.8ms
126Saw tooth wave0V to 5V0.8ms
1272.5V test data2.5V0.8ms
Deviation from ideal position
(considering servo tracking delay)
Deviation from ideal position
(considering servo tracking delay)
1mm/V1°/V0.8ms
1m/V1000°/V0.8ms
(Note)The estimated load inertia ratio (unit: 100%/V) is applied for the rotary motor, and the moving
sections gross weight (unit: 100kg/V) for the linear motor.
3 - 21
3 Function Specifications
MITSUBISHI CNC
(Servo control signal)
Servo control input (NC to Servo)Servo control output (Servo to NC)
No.DetailsNo.Details
16384Servo control input 1-0READY ON command16480Servo control output 1-0In READY ON
16385Servo control input 1-1Servo ON command16481Servo control output 1-1In servo ON
16388Servo control input 1-4
16390Servo control input 1-6
16391Servo control input 1-7Alarm reset command16487Servo control output 1-7In alarm
16392Servo control input 1-8
16488Servo control outpu t 1- 8In current limit selection
16492Servo control outp u t 1- CIn in-position
16493Servo control outp u t 1- DIn current limit
16494Servo control output 1-EIn absolute position data loss
16495Servo control outp u t 1- FIn warning
16496Servo control output 2-0Z phase passed
16499Servo control output 2-3In zero speed
16503Servo control output 2-7In external emergency stop
16512Servo control output 3-0In control axis detachment
In position loop gain changeover
In excessive error detection
width changeover
3 - 22
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-6 Diagnosis function
< Spindle drive unit >
CN9
MDS-D-SPJ3
Pin
Pin
NameName
connector
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 high-speed
waveform recorder or oscilloscope, etc.
(1) D/A output specifications
1
2
3
4
5
6
7
8
10
LG
MO1
11
9
LG
12
13
MO2
14
15
16
17
18
19
20
ItemExplanation
No. of channels2ch
Output cycle0.8ms (min. value)
Output precision10bit
Output voltage range0V to 2.5V (zero) to +5V
Output magnification setting-32768 to 32767 (1/100-fold)
(Note) Load meter displays "100%(=2.5V)" when the control power turns ON and the NC is starting.
After the NC has been run, it displays "0%(=0V%)".
3 - 24
0V to 5V0.8ms(min)
2.5V0.8ms(min)
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-6 Diagnosis function
(Special output)
The result of PLG(TS5690) installation accuracy diagnosis is output to D/A output. D/A output
magnification:SP127(DA1MPY) and SP128(DA2MPY) is 0.
PLG installation diagnosis function can be enabled during the rotation, when open loop control is
enabled:SP018(SPEC2)/bit1=1.
D/A output
No.
120
121
122
123
DetailsDescription
Motor end PLG installation
Gap diagnosis
Motor end PLG installation
All errors diagnosis
Spindle end PLG installation
Gap diagnosis
Spindle end PLG installation
All errors diagnosis
Motor end PLG installation gap is diagnosed.
When the gap is good, 2.5V is output.
When the gap is excessive, 2.5V+1V is output.
When the gap is too small, 2.5V-1V is output.
Motor end PLG installation error (including the gap) is diagnosed.
When the installation is good, 2.5V is output.
When the installation is incorrect, 2.5V+1V is output.
Spindle end PLG installation gap is diagnosed.
Diagnostic procedure is the same as that of motor end PLG.
Spindle end PLG installation error (including the gap) is diagnosed.
Diagnostic procedure is the same as that of motor end PLG.
3 - 25
3 Function Specifications
MITSUBISHI CNC
(Spindle control signal)
Spindle control input (NC to Spindle)Spindle control output (Spindle to NC)
No.DetailsNo.Details
16384Spindle control input 1-0READY ON command16480Spindle control output 1-0In ready ON
16385Spindle control input 1-1Servo ON command16481Spindle control output 1-1In servo ON
16391Spindle control input 1-7Alarm reset command16487Spindle control output 1-7In alarm
16392Spindle control input 1-8
16488Spindle control output 1-8In torque limit 1 selection
16489Spindle control output 1-9In torque limit 2 selection
16490Spindle control output 1-AIn torque limit 3 selection
16492Spindle control output 1-CIn in-position
16495Spindle control output 1-FIn warning
16496Spindle control output 2-0Z phase passed
16499Spindle control output 2-3In zero speed
16503Spindle control output 2-7In external emergency stop
16432Spindle control input 4-0
16433Spindle control input 4-1
16434Spindle control input 4-2
16436Spindle control input 4-4Gear changeover command16532Spindle control output 4-4
16437Spindle control input 4-5Gear selection command 116533Spindle control output 4-5In gear selection 1
16438Spindle control input 4-6Gear selection command 216534Spindle control output 4-6In gear selection 2
16459Spindle control input 5-B
16460Spindle control input 5-C
16461Spindle control input 5-D
16462Spindle control input 5-ESpindle holding force up16558Spindle control output 5-E
Spindle control mode selection command 1
Spindle control mode selection command 2
Spindle control mode selection command 3
Minimum excitation rate 2
changeover request
Speed gain set 2 changeover
request
Zero point re-detection request
16528Spindle control output 4-0
16529Spindle control output 4-1
16530Spindle control output 4-2
16545Spindle control output 5-1Speed detection
16555Spindle control output 5-B
16556Spindle control output 5-CIn speed gain set 2 selection
16557Spindle control output 5-D
16559Spindle control output 5-FIn 2nd in-position
In spindle control mode selection 1
In spindle control mode selection 2
In spindle control mode selection 3
In gear changeover command
In minimum excitation rate 2
selection
Zero point re-detection complete
Spindle holding force up
completed
(Note 1) Control signal is bit output. Setting the No. of the table above to the data output(SP125, SP126),
and when the scale (SP127, SP128) is set to "0", the output is "0V" for bit 0, and "2.5V" for bit 1.
(Note 2) Refer to the section "Spindle control signal" in Instruction Manual for details on the spindle control
signal.
3 - 26
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-6 Diagnosis function
3-6-2 Machine resonance frequency display function
If resonance is generated and it causes vibrations of the current commands, this function estimates the
vibration frequency and displays it on the NC monitor screen (AFLT frequency).
This is useful in setting the notch filter frequencies during servo adjustment. This function constantly
operates with no need of parameter setting.
3-6-3 Machine inertia display function
With this function, the load current and acceleration rate during motor acceleration are measured to estimate
the load inertia.
According to the parameter setting, the estimated load inertia is displayed on the NC monitor screen,
expressed as its percentage to the motor inertia.
3-6-4 Motor temperature display function
The temperature sensed by the thermal sensor attached to the motor coil is displayed on the NC screen.
3-6-5 Load monitor output function
A spindle motor's load is output as an analog voltage of 0 to 3V (0 to 120%). To use this function, connect a
load meter that meets the specifications.
3-6-6 Open loop control function
This function is to run a spindle motor for operation check before or during the adjustment of the spindle
motor's detector. This allows the operation in which no detector feedback signals are used.
Ambient temperature0°C to +40°C (with no freezing)
Ambient humidity80% RH or less (with no dew condensation)
Storage temperature-15°C to +70°C (with no freezing)
Storage humidity90% RH or less (with no dew condensation)
Atmosphere
Altitude
4-1-2 Quakeproof level
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, 105
HF54, 104, 154, 224, 123, 223, 142
HF204, 354, 303, 302
HF-KP13, 23, 43, 73
The vibration conditions are as shown below.
200
m)
100
µ
80
60
50
40
30
Vibration amplitude
(double-sway width) (
20
0
1000
Speed (r/min)
2000
3000
Acceleration direction
Axis direction (X)Direction at right angle to axis (Y)
2
24.5m/s
24.5m/s
(2.5G) or less24.5m/s2 (2.5G) or less
2
(2.5G) or less29.4m/s2 (3G) or less
2
49m/s
(5G) or less49m/s2 (5G) or less
Servomotor
Y
X
Acceleration
4 - 2
MDS-D-SVJ3/SPJ3 Series Specifications Manual
4-1 Servomotor
4-1-3 Shaft characteristics
CAUTION
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 belo w the tolerable values given
below. These loads may affect the motor output torque, so consider them when designing the machine.
(Note 1) The tolerable radial load and thrust load in the above table are values applied when each motor is
used independently.
(Note 2) The symbol L in the table refers to the value of L below.
L
Radial load
Thrust load
L: Length from flange installation surface to center of load mass [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.
4 - 3
4 Characteristics
MITSUBISHI CNC
4-1-4 Machine accuracy
c
b
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 endc0.020.020.030.03
Measurement
point
a0.050.060.080.08
b0.040.040.060.08
Less than 100100 SQ., 130 SQ. 176 SQ. - 250 SQ.280 or over
Flange size [mm]
a
4 - 4
MDS-D-SVJ3/SPJ3 Series Specifications Manual
4-1 Servomotor
4-1-5 Oil / water standards
Oil or water
Servomotor
Gear
Servomotor
Oil seal
Oil level
Lip
Cable trap
CAUTION
(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 ch aracteristics. 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.
(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.
(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.
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.
4 - 5
4 Characteristics
MITSUBISHI CNC
4-1-6 Flange of servo motor
Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat
dissipation effect:
Flange size
(mm)
150x150x650 to 100W
250x250x6200 to 400W
250x250x120.5 to 1.5kW
300x300x202.0 to 7.0kW
800x800x359.0 to 11.0kW
Servo Motor
HF, HF-KP
4-1-7 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.
4 - 6
MDS-D-SVJ3/SPJ3 Series Specifications Manual
4-1 Servomotor
< HF series >
0.1
1.0
10.0
100.0
1000.0
10000.0
0100200300400500
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
0100200300400500600700
Motor current value (stall rated current value ratio %)
Time 䠄s䠅
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0100200300400500600700
Motor current value (stall rated current value ratio %)
Time 䠄s䠅
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0100200300400500
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
0100200300400500
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
0100200300400500
Motor current value (stall rated current value ratio %)
Time 䋨s䋩
When stopped
When rotating
HF75HF105
10000.0
1000.0
100.0
Time 䋨s䋩
10.0
1.0
0.1
0100200300400500600700
Motor current value (stall rated current value ratio %)
HF54HF104
HF154HF224
When stopped
When rotating
10000.0
1000.0
100.0
Time 䠄s䠅
10.0
1.0
0.1
0100200300400500600700
Motor current value (stall rated current value ratio %)
When stopped
When rotating
HF204HF354
10000.0
1000.0
100.0
Time 䠄s䠅
10.0
1.0
0.1
0100200300400500
Motor current value (stall rated current value ratio %)
HF123HF223
10000.0
1000.0
100.0
10.0
Time 䋨s䋩
1.0
0.1
0100200300400500
Motor current value (stall rated current value ratio %)
When stopped
When rotating
When stopped
When rotating
4 - 7
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