Mitsubishi MDS-D-SV J3, MDS-D-SP J3 SPECIFICATIONS MANUAL

MELDAS is a registered trademark of Mitsubishi Electric Corporation. Other company and product names that appear in this manual are trademarks or registered trademarks of their respective companies.

Introduction

Thank you for selecting the Mitsubishi numerical control unit. This instruction manual describes the handling and caution points for using this AC servo/spindle. Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage. Make sure that this instruction manual is delivered to the end user. Always store this manual in a safe place. In order to confirm if all function specifications described in this manual are applicable, refer to the specifications for each CNC.

Notes on Reading This Manual

(1) Since the description of this specification manual deals with NC in general, for the

specifications of individual machine tools, refer to the manuals issued by the respective machine manufacturers. The "restrictions" and "available functions" described in the manuals issued by the machine manufacturers have precedence to those in this manual.

(2) This manual describes as many special operations as possible, but it should be

kept in mind that items not mentioned in this manual cannot be performed.

Precautions for safety

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

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

Note that some items described as the situation. In any case, important information that must be observed is described.

The signs indicating prohibited and mandatory matters are explained below.

DANGER

WARNING

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.

CAUTION

may lead to major results depending on

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

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

After reading this specifications and instructions manual, store it where the user can access it easily for reference.

The numeric control unit is configured of the control unit, operation board, servo drive unit, spindle drive unit, power supply, servomotor and spindle motor, etc.

In this section "Precautions for safety", the following items are generically called the "motor".

• Servomotor

• Linear servomotor

• Spindle motor

In this section "Precautions for safety", the following items are generically called the "unit".

• Servo drive unit

• Spindle drive unit

• Power supply unit

• Scale interface unit

• Magnetic pole detection unit

POINT

Important matters that should be understood for operation of this machine are indicated as a POINT in this manual.

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 o r the pen tip. Failure to observe this could lead to electric shocks.

Wait at least 15 minutes after turning the power OFF, confirm that the CHARGE lamp has gone out, and check the voltage between P and N terminals with a tester, etc., before starting wiring, maintenance or inspections. Failure to observe this could lead to electric shocks.

Ground the unit and motor following the standards set forth by each country. Wiring, maintenance and inspection work must be done by a qualified technician. Wire the servo drive unit and servomotor after installation. Failure to observe this could lead to

electric shocks. Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks. Do not damage, apply forcible stress, place heavy items on the cables or get them caught.

Failure to observe this could lead to electric shocks.

WARNING

2. Injury prevention

The linear servomotor uses a powerful magnet on the secondary side, and could adversely affect pacemakers, etc.

During installation and operation of the machine, do not place portable items that could malfunction or fail due to the influence of the linear servomotor's magnetic force.

Take special care not to pinch fingers, etc., when installing (and unpacking) the linear servomotor.

In the system where the optical communication with CNC is executed, do not see directly the light generated from CN1A/CN1B connector of drive unit or the end of cable. When the light gets into eye, you may feel something is wrong for eye. (The light source of optical communication corresponds to class1 defined in JIS C68 02 or IEC60825-1.)

1. Fire prevention

Install the units, motors and regenerative resistor on non-combustible material. Direct installation on combustible material or near combustible materials could lead to fires.

Always install a no-fuse breaker and contactor on the servo drive unit power input as explained in this manual. Refer to this manual and select the correct no-fuse breaker 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.

CAUTION

Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or damage, etc.

Do not mistake the polarity ( damage, etc.

Do not touch the radiation fin on unit back face, regenerative resistor or motor, etc., or place parts (cables, etc.) while the power is turned ON or immediately after turning the power OFF. These parts may reach high temperatures, and can cause burns or part damage.

Structure the cooling fan on the unit back face, etc., etc so that it cannot be touched after installation. Touching the cooling fan during operation could lead to injuries.

). Failure to observe this item could lead to ruptures or

CAUTION

3. Various precautions

Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and electric shocks, etc.

(1) Transportation and installation

Correctly transport the product according to its weight. Use the motor's hanging bolts only when transporting the motor. Do not transport the

machine when the motor is installed on the machine. Do not stack the products above the tolerable number. Follow this manual and install the unit or motor in a place where the weight can be borne. Do not get on top of or place heavy objects on the unit.

Do not hold the cables, axis or detector when transporting the motor.

Do not hold the connected wires or cables when transporting the units. Do not hold the front cover when transporting the unit. The unit could drop. Always observe the installation directions of the units or motors. Secure the specified distance between the units and control panel, or between the servo drive

unit and other devices. Do not install or run a unit or motor that is damaged or missing parts. Do not block the intake or exhaust ports of the motor provided with a cooling fan. Do not let foreign objects enter the units or motors. In particular, if conductive objects such as

screws or metal chips, etc., or combustible materials such as oil enter, rupture or breakage could occur.

The units and motors are precision devices, so do not drop them or apply strong impacts to them.

CAUTION

Store and use the units under the following environment conditions.

Environment

Ambient temperature

Ambient humidity

Atmosphere

Altitude

Vibration/impact

(Note 1) For details, confirm each unit or motor specifications in addition. (Note 2) -15°C to 55°C for linear servomotor.

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

Operation: 90%RH or less

(with no dew condensation)

Storage / Transportation: 90%RH or less

(with no dew condensation)

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

Operation/Storage: 1000 meters or less above

Transportation: 13000 meters or less above sea

Unit Motor

(with no freezing)

sea level,

level

According to each unit or motor specification

Operation: 0 to 40°C (with no freezing),

Storage: -15°C to 70°C

Operation: 80%RH or less

(with no dew condensation),

Storage: 90%RH or less

(with no dew condensation)

Indoors (no direct sunlight)

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

(Note 2)

(with no freezing)

Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor slipping off during operation.

Always install the servomotor with reduction gear in the designated direction. Failure to do so could lead to oil leaks.

Structure the rotary sections of the motor so that it can never be touched during operation. Install a cover, etc., on the shaft.

When installing a coupling to a servomotor shaft end, do not apply an impact by hammering, etc. The detector could be damaged.

Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft could break.

Store the motor in the package box. When inserting the shaft into the built-in IPM motor, do not heat the rotor higher than 130°C.

The magnet could be demagnetized, and the specifications characteristics will not be ensured.

Always use a nonmagnetic tool (explosion-proof beryllium copper alloy safety tool: NGK Insulators, etc.) when installing the linear servomotor.

Always provide a mechanical stopper on the end of the linear servomotor's travel path. If the unit has been stored for a long time, always check the operation before starting actual

operation. Please contact the Service Center, Service Station, Sales Office or delayer.

(2) Wiring

CAUTION

Correctly and securely perform the wiring. Failure to do so could lead to abnormal operation of the motor.

Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of the drive unit.

Correctly connect the output side of the drive unit (terminals U, V, W). Failure to do so could lead to abnormal operation of the motor.

When using a power regenerative power supply unit, always install an AC reactor for each power supply unit.

In the main circuit power supply side of the unit, always install an appropriate no-fuse breaker or contactor for each unit. No-fuse breaker or contactor cannot be shared by several units.

Always connect the motor to the drive unit's output terminals (U, V, W). Do not directly connect a commercial power supply to the servomotor. Failure to observe this

could result in a fault. When using an inductive load such as a relay, always connect a diode as a noise measure

parallel to the load. When using a capacitance load such as a lamp, always connect a protective resistor as a noise

measure serial to the load. Do not reverse the direction of a diode

which connect to a DC relay for the control output signals such as

Servodrive unit

COM

(24VDC)

Servodrive unit

COM

(24VDC)

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

Controloutput signal

Control output signal

output, and emergency stop and other safety circuits are inoperable.

Do not connect/disconnect the cables connected between the units while the power is ON. Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could

cause the cable to fall off while the power is ON. When using a shielded cable instructed in the instruction manual, always ground the cable with

a cable clamp, etc. Always separate the signals wires from the drive wire and power line. Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to

the system.

(3) Trial operation and adjustment

Check and adjust each program and parameter before starting operation. Failure to do so could lead to unforeseen operation of the machine.

Do not make remarkable adjustments and changes of paramete r a s the ope ration could become unstable.

The usable motor and unit combination is predetermined. Always check the models before starting trial operation.

If the axis is unbalanced due to gravity, etc., balance the axis using a counterbalance, etc. The linear servomotor does not have a stopping device such as magnetic brakes. Install a

stopping device on the machine side.

(4) Usage methods

In abnormal state, install an external emergency stop circuit so that the operation can be stopped and power shut off immediately.

Turn the power OFF immediately if smoke, abnormal noise or odors are generated from the unit or motor.

CAUTION

Do not disassemble or repair this product. Never make modifications.

When an alarm occurs, the machine will start suddenly if an alarm reset (RST) is carried out while an operation start signal (ST) is being input. Always confirm that the operation signal is OFF before carrying out an alarm reset. Failure to do so could lead to accidents or injuries.

Reduce magnetic damage by installing a noise filter. The electronic devices used near the unit could be affected by magnetic noise. Install a line noise filter, etc., if there is a risk of magnetic noise.

Use the unit, motor and regenerative resistor with the designated combination. Failure to do so could lead to fires or trouble.

The brake (magnetic brake) of the servomotor are for holding, and must not be used for normal braking.

There may be cases when holding is not possible due to the magnetic brake's life, the machine construction (when ball screw and servomotor are coupled via a timing belt, etc.) or the magnetic brake’s failure. Install a stop device to ensure safety on the machine side.

After changing the programs/parameters or after maintenance and inspection, always test the operation before starting actual operation.

Do not enter the movable range of the machine during automatic operation. Never place body parts near or touch the spindle during rotation.

Follow the power supply specification conditions given in each specification for the power (input voltage, input frequency, tolerable sudden power failure time, etc.).

Set all bits to "0" if they are indicated as not used or empty in the explanation on the bits. Do not use the dynamic brakes except during the emergency stop. Continued use of the

dynamic brakes could result in brake damage. If a no-fuse breaker for the main circuit power supply is shared by several units, the no-fuse

breaker may not activate when a short-circuit fault occurs in a small capacity unit. This is dangerous, so never share the no-fuse breakers.

(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.

CAUTION

Shut off with the servomotor brake control output.

Servomotor

Magnetic brake

Shut off with NC brake control PLC output.

MBR

EMG

24VDC

Always turn the input power OFF when an alarm occurs. If an alarm occurs, remove the cause, and secure the safety before resetting the alarm. Never go near the machine after restoring the power after a power failure, as the machine

could start suddenly. (Design the machine so that personal safety can be ensured even if the machine starts suddenly.)

(6) Maintenance, inspection and part replacement

Always backup the programs and parameters before starting maintenance or i nspections. The capacity of the electrolytic capacitor will drop over time due to self-discharging, etc. To

prevent secondary disasters due to failures, replacing this part every five years when used under a normal environment is recommended. Contact the Service Center, Service Station, Sales Office or delayer for repairs or part replacement.

Do not perform a megger test (insulation resistance measurement) during inspections. If the battery low warning is issued, back up the machining programs, tool data and

parameters with an input/output unit, and then replace the battery. Do not short circuit, charge, overheat, incinerate or disassemble the battery. The heat radiating fin used in some units contains substitute Freon as the refrigerant.Ta ke

care not to damage the heat radiating fin during maintenance and replacement work.

(7) Disposal

Do not dispose of this type of unit as general industrial waste. Always contact the Service Center, Service Station, Sales Office or delayer for repairs or part replacement.

Do not disassemble the unit or motor. Dispose of the battery according to local laws.

Always return the secondary side (magnet side) of the linear servomotor to the Service Center or Service Station.

When incinerating optical communication cable, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated. For disposal of optical communication cable, request for specialized industrial waste disposal services that has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas.

CAUTION

(8) Transportation

The unit and motor are precision parts and must be handled carefully. According to a United Nations Advisory, the battery unit and battery must be transported

according to the rules set forth by the International Civil Aviation Organization (ICAO), International Air Transportation Association (IATA), International Maritime Organization (IMO), and United States Department of Transportation (DOT), etc.

(9) General precautions The drawings given in this manual show the covers and safety partitions, etc., removed to provide a

clearer explanation. Always return the covers or partitions to their respective places before starting operation, and always follow the instructions given in this manual.

{ Treatment of waste {

The following two laws will apply when disposing of this product. Considerations must be made to each law. The following laws are in effect in Japan. Thus, when using this product overseas, the local laws will have a priority. If necessary, indicate or notify these laws to the final user of the product.

1. Requirements for "Law for Promotion of Effective Utilization of Resources"

(1) Recycle as much of this product as possible when finished with use. (2) When recycling, often parts are sorted into steel scraps and electric parts, etc., and sold to scrap

contractors. Mitsubishi recommends sorting the product and selling the members to appropriate contractors.

2. Requirements for "Law for Treatment of Waste and Cleaning"

(1) Mitsubishi recommends recycling and selling the product when no longer needed according to

item (1) above. The user should make an effort to reduce waste in this manner. (2) When disposing a product that cannot be resold, it shall be treat ed as a waste product. (3) The treatment of industrial waste must be commissioned to a licensed industrial waste treatment

contractor, and appropriate measures, including a manifest control, must be taken. (4) Batteries correspond to "primary batteries", and must be dispos ed of according to local disposal

laws.

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 Spindle drive unit type........................................................................................................... 1-6

2. Specifications

2-1 Servomotor................................................................................................................................... 2-2

2-1-1 Specifications list................................................................................................................... 2-2

2-1-2 Torque characteristics........................................................................................................... 2-3

2-2 Spindle motor................................................................................................................................ 2-4

2-2-1 Specifications........................................................................................................................ 2-4

2-2-2 Output characteristics ........................................................................................................... 2-5

2-3 Drive unit....................................................................................................................................... 2-6

2-3-1 Installation environment conditions....................................................................................... 2-6

2-3-2 Servo drive unit..................................................................................................................... 2-6

2-3-3 Spindle drive unit................................................................................................................... 2-7

2-3-4 D/A output specifications for servo drive unit........................................................................ 2-8

2-3-5 D/A output specifications for spindle drive unit..................................................................... 2-11

2-3-6 Explanation of each part....................................................................................................... 2-14

3. Characteristics

3-1 Servomotor................................................................................................................................... 3-2

3-1-1 Environmental conditions...................................................................................................... 3-2

3-1-2 Quakeproof level................................................................................................................... 3-2

3-1-3 Shaft characteristics.............................................................................................................. 3-3

3-1-4 Oil / water standards............................................................................................................. 3-4

3-1-5 Magnetic brake ..................................................................................................................... 3-5

3-1-6 Dynamic brake characteristics.............................................................................................. 3-8

3-2 Spindle motor................................................................................................................................ 3-10

3-2-1 Environmental conditions...................................................................................................... 3-10

3-2-2 Shaft characteristics.............................................................................................................. 3-10

3-3 Drive unit characteristics............................................................................................................... 3-11

3-3-1 Environmental conditions...................................................................................................... 3-11

3-3-2 Heating value........................................................................................................................ 3-12

3-3-3 Overload protection characteristics...................................................................................... 3-13

4. Dedicated Options

4-1 Servo options................................................................................................................................ 4-2

4-1-1 Battery option (MR-J3BAT)................................................................................................... 4-5

4-1-2 Ball screw side detector (OSA105-ET2)............................................................................... 4-7

4-1-3 Machine side detector........................................................................................................... 4-9

4-2 Spindle options............................................................................................................................. 4-13

4-2-1 Spindle side detector (OSE-1024-3-15-68, OSE-1024-3-15-68-8)....................................... 4-14

4-2-2 C axis detector (HEIDENHAIN ERM280)............................................................................. 4-16

4-3 Regenerative option...................................................................................................................... 4-18

4-4 Detector interface unit................................................................................................................... 4-20

4-4-1 MDS-B-HR............................................................................................................................ 4-20

4-4-2 APE391M.............................................................................................................................. 4-22

4-4-3 MJ831 ................................................................................................................................... 4-23

4-5 Cables and connectors................................................................................................................. 4-24

4-5-1 Cable connection diagram.................................................................................................... 4-24

4-5-2 List of cables and connectors ............................................................................................... 4-25

4-5-3 Optical communication cable specifications......................................................................... 4-29

5. Selection of Peripheral Devices

5-1 Selection of wire ........................................................................................................................... 5-2

5-1-1 Example of wires by unit....................................................................................................... 5-2

5-2 Selection of no-fuse breaker and contactor.................................................................................. 5-4

5-2-1 Selection of no-fuse breaker................................................................................................. 5-4

5-2-2 Selection of contactor ........................................................................................................... 5-5

5-3 Selection of earth leakage breaker............................................................................................... 5-6

5-4 Branch-circuit protection (for control power supply)..................................................................... 5-7

5-4-1 Circuit protector..................................................................................................................... 5-7

5-4-2 Fuse protection..................................................................................................................... 5-7

5-5 Noise filter..................................................................................................................................... 5-8

5-6 Surge absorber............................................................................................................................. 5-9

5-7 Relay............................................................................................................................................. 5-10

Appendix 1. Outline Dimension Drawings

Appendix 1-1 Outline dimension drawings of servomotor.................................................................. A1-2

Appendix 1-1-1 HF motor ............................................................................................................... A1-2

Appendix 1-2 Outline dimension drawings of spindle motor............................................................... A1-7

Appendix 1-3 Outline dimension drawings of unit............................................................................... A1-14

Appendix 1-3-1 Servo drive unit..................................................................................................... A1-14

Appendix 1-3-2 Spindle drive unit.................................................................................................. A1-18

Appendix 1-3-3 Regenerative resistor............................................................................................ A1-22

Appendix 2. Cable and Connector Specifications

Appendix 2-1 Selection of cable......................................................................................................... A2-2

Appendix 2-1-1 Cable wire and assembly...................................................................................... A2-2

Appendix 2-2 Cable connection diagram............................................................................................ A2-4

Appendix 2-3 Connector outline dimension drawings ........................................................................ A2-10

Appendix 2-4 Cable and connector assembly.................................................................................... A2-20

Appendix 2-4-1 CM10-SP**S plug connector................................................................................ A2-20

Appendix 2-4-2 CM10-AP**S Angle Plug Connector..................................................................... A2-27

Appendix 3. Selection

Appendix 3-1 Selection of the servomotor series................................................................................ A3-2

Appendix 3-1-1 Motor series characteristics.................................................................................. A3-2

Appendix 3-1-2 Servomotor precision............................................................................................ A3-2

Appendix 3-1-3 Selection of servomotor capacity.......................................................................... A3-3

Appendix 3-1-4 Motor shaft conversion load torque ...................................................................... A3-6

Appendix 3-1-5 Expressions for load inertia calculation................................................................ A3-7

Appendix 3-2 Selecting the regenerative resistor ............................................................................... A3-8

Appendix 3-2-1 Calculating the regenerative energy of the servomotor........................................ A3-8

Appendix 3-2-2 Calculating the servomotor positioning frequency................................................ A3-10

Appendix 3-3 Selecting the regenerative resistor of spindle............................................................... A3-11

Appendix 3-3-1 Calculating the regenerative energy of spindle motor.......................................... A3-1 1

Appendix 3-3-2 Selecting the regenerative resistor....................................................................... A3-12

Appendix 4. Transportation Restrictions for Lithium Batteries

Appendix 4-1 Restriction for packing.................................................................................................. A4-2

Appendix 4-1-1 Target products..................................................................................................... A4-2

Appendix 4-1-2 Handling by user................................................................................................... A4-3

Appendix 4-1-3 Reference ............................................................................................................. A4-4

Appendix 4-2 Issuing domestic law of the United State for primary lithium battery transportation.... A4-5

Appendix 4-2-1 Outline of regulation.............................................................................................. A4-5

Appendix 4-2-2 Target products..................................................................................................... A4-5

Appendix 4-2-3 Handling by user................................................................................................... A4-5

Appendix 4-2-4 Reference ............................................................................................................. A4-5

Appendix 4-3 Example of hazardous goods declaration list............................................................... A4-6

Appendix 5. Compliance to EC Directives

Appendix 5-1 Compliance to EC Directives........................................................................................ A5-2

Appendix 5-1-1 European EC Directives ....................................................................................... A5-2

Appendix 5-1-2 Cautions for EC Directive compliance.................................................................. A5-2

Appendix 6. EMC Installation Guidelines

Appendix 6-1 Introduction................................................................................................................... A6-2

Appendix 6-2 EMC instructions .......................................................................................................... A6-2

Appendix 6-3 EMC measures............................................................................................................. A6-3

Appendix 6-4 Measures for panel structure........................................................................................ A6-3

Appendix 6-4-1 Measures for control panel unit............................................................................ A6-3

Appendix 6-4-2 Measures for door................................................................................................. A6-4

Appendix 6-4-3 Measures for operation board panel..................................................................... A6-4

Appendix 6-4-4 Shielding of the power supply input section ......................................................... A6-4

Appendix 6-5 Measures for various cables......................................................................................... A6-5

Appendix 6-5-1 Measures for wiring in panel................................................................................. A6-5

Appendix 6-5-2 Measures for shield treatment.............................................................................. A6-5

Appendix 6-5-3 Servo/spindle motor power cable ......................................................................... A6-6

Appendix 6-5-4 Servo/spindle motor feedback cable .................................................................... A6-7

Appendix 6-6 EMC countermeasure parts.......................................................................................... A6-8

Appendix 6-6-1 Shield clamp fitting................................................................................................ A6-8

Appendix 6-6-2 Ferrite core............................................................................................................ A6-9

Appendix 6-6-3 Power line filter..................................................................................................... A6-10

Appendix 6-6-4 Surge protector..................................................................................................... A6-15

Appendix 7. EC Declaration of Conformity

Appendix 7-1 Compliance to EC Directives........................................................................................ A7-2

Appendix 7-1-1 Low voltage equipment......................................................................................... A7-2

Appendix 8. Compliance with China Compulsory Product Certification (CCC Certification) System

Appendix 8-1 Outline of China Compulsory Product Certification System......................................... A8-2

Appendix 8-2 First Catalogue of Products subject to Compulsory Product Certification ................... A8-2

Appendix 8-3 Precautions for Shipping Products............................................................................... A8-3

Appendix 8-4 Application for Exemption............................................................................................. A8-4

Appendix 8-5 Mitsubishi NC Product Subject to/Not Subject to CCC Certification............................ A8-5

1. Introduction

1-1 Servo/spindle drive system configuration ..........................................................................................1-2

1-1-1 System configuration...................................................................................................................1-2

1-2 Explanation of type............................................................................................................................. 1-3

1-2-1 Servomotor type..........................................................................................................................1-3

1-2-2 Servo drive unit type.................................................................................................................... 1-4

1-2-3 Spindle motor type ......................................................................................................................1-5

1-2-4 Spindle drive unit type................................................................................................................. 1-6

1 - 1

1. Introduction

1-1 Servo/spindle drive system configuration

1-1-1 System configuration

3-phase or single-phase

AC200 to 230V L1 L2 L3

Breaker

fuse

(Note)

Prepared by user

NFB

(Note)

Prepared by user

Contactor

(Note)

Prepared by user

Breaker

fuse

(Note)

Prepared by user

NFB

(Note)

Prepared by user

Contactor

(Note)

Prepared by user

L11 L21

Option

Regene-

rative

resistor

L1 L2 L3

(MDS-D-SVJ3)

CNP1 CNP2

P C

CNP3

Servo

drive unit

BAT

CN1A

CN1B

CN2

From NC

CN3

L11 L21

Regene-

rative

resistor

L1 L2 L3

(MDS-D-SPJ3)

CNP1 CNP2

P C

CNP3

Spindle

drive unit

CN1A

CN2

CN3

Servomotor Spindle motor

Linear scale ( in full closed control)

(Note)

Prepared by user

1 - 2

Spindle side detector

1. Introduction

1-2 Explanation of type

1-2-1 Servomotor type

MITSUBISHI

Motor type

Rated output Rated rotation speed Serial No.

(1) HF Series

(4) Detector

A48 Absolute position 260,000p/rev OSA18

(3) Shaft end structure

S Straight T Taper

(2) Magnetic brake

None None

(1) Rated output · Maximum rotation speed

75 0.75 kW 5000 r/min □90 mm 105 1.0 kW 5000 r/min □90 mm 54 0.5 kW 4000 r/min □130 mm 104 1.0 kW 4000 r/min □130 mm 154 1.5 kW 4000 r/min □130 mm 204 2.0 kW 4000 r/min □176 mm 354 3.5 kW 3500 r/min □176 mm

(1) (2) (3) - (4)

Symbol

Symbol Rated output

AC SERVO MOTOR

HFxxxBS

INPUT 3AC 155 V xxx A

OUTPUT x.xkW IEC34-1 1994 3000r/min IP65 CI.F xx kg

SER.No.

xxxxxxxx*

MITSUBISHI ELECTRIC MADE IN JAPAN 00395298-01

Motor rating nameplate

Detection

method

Shaft end

structure

Magnetic brake

With magnetic

brakes

DATE

04-1

(Note)

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

Maximum rotation

Resolution Detector type

speed

Flange size

1 - 3

1-2-2 Servo drive unit type

Output

1. Introduction

Type

Input/output conditions

Applicable standard

Rating nameplate

MDS-D-SVJ3 (1)

(1) Type MDS-D-SVJ3-

§ Indicates the compatible motor for each servo drive unit.

Srvo drive unit Compatible motor

Rated output

03 0.3kW 40mm 04 0.4kW 40mm 07 0.7kW 60mm § § § 10 1.0kW 90mm § 20 2.0kW 90mm § § 35 3.5kW 90mm §

Unit width

75 105 54 104 154 204 354

HF□

Manual No.

1 - 4

1. Introduction

1-2-3 Spindle motor type

SJ-

(2) Short time rated output

0.75 0.75kW

1.5 1.5kW

2.2 2.2 kW

3.7 3.7 kW

5.5 5.5 kW

7.5 7.5 kW 11 11 kW

(1) Motor series

VL Motor with fan (0.75kW, 1.5kW) V Motor with fan (2.2kW to 11kW)

(1) (2)

MITSUBISHI AC SPINDLE MOTOR

TYPE

SJ–V5. 5–01E

SI CONT 4 POLE

kW r/min

3.7 1500-6000 25 P OW ER FA CT OR 8 2 %

2.8 8000 17

S2 30 min S3 50 %

kW r/min

5.5 1500-6000 33

4.1 8000 23 INSUL ATION CLASS F AMB TEMP. 0-40°C SERIAL DATE

FRAME D90F WEIGHT 49 kg IP 44 IEC 34-1 1994 SPEC No.RSV00023*

MITSUBISHI ELECTRIC CORPORATION

A(~)

WIND CONNECT

max

MOTOR INPUT(~) 137 - 16 2 V

A(~)

AMP INPUT(~)

max

200-230V 50/60Hz

MADE IN JAPAN

A19103-01

3 PHASES

995291-01

Rating nameplate

Motor for MDS-D-SPJ3 of MDS-D-SVJ3/SPJ3 series

Symbol

Short time

rated output

Symbol Motor series

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

1 - 5

1-2-4 Spindle drive unit type

Output

1. Introduction

Type

Input/output conditions

Applicable standard

Rating nameplate

Manual No.

MDS-D-SPJ3

(1) Capacity

075 0.75kW 60mm wide 22 2.2kW 37 3.7kW 55 5.5kW 75 7.5kW 110 11.0kW 172mm wide

(1)

Symbol Rated output Unit width

90mm wide

130mm wide

1 - 6

2. Specifications

2-1 Servomotor.........................................................................................................................................2-2

2-1-1 Specifications list.........................................................................................................................2-2

2-1-2 Torque characteristics.................................................................................................................2-3

2-2 Spindle motor.....................................................................................................................................2-4

2-2-1 Specifications .............................................................................................................................. 2-4

2-2-2 Output characteristics.................................................................................................................. 2-5

2-3 Drive unit............................................................................................................................................2-6

2-3-1 Installation environment conditions............................................................................................. 2-6

2-3-2 Servo drive unit ...........................................................................................................................2-6

2-3-3 Spindle drive unit.........................................................................................................................2-7

2-3-4 D/A output specifications for servo drive unit..............................................................................2-8

2-3-5 D/A output specifications for spindle drive unit .........................................................................2-11

2-3-6 Explanation of each part............................................................................................................2-14

2 - 1

2. Specifications

2-1 Servomotor

2-1-1 Specifications list

HF Series

Servomotor type

HF75 HF105 HF54 HF104 HF154 HF204 HF354

Compatible servo drive unit type

Rated output [kW] 0.75 1.0 0.5 1.0 1.5 2.0 3.5

Continuous characteristics

Rated rotation speed [r/min] 4000 3000 Maximum rotation speed [r/min] 5000 4000 3500 Maximum current [A] 14.0 15.5 16.8 29.0 52.0 52.0 64.0 Maximum torque [N·m] 8.0 11.0 13.0 23.3 42.0 42.0 65.0 Power rate at continuous rated torque Motor inertia [kg·cm2] 2.6 5.1 6.1 11.9 17.8 38.3 75.0 Motor inertia with brake [kg·cm2] 2.8 5.3 8.3 14.1 20.0 48.0 84.7

Maximum motor shaft conversion load inertia ratio

Motor side detector Structure

Environment

Weight Without / with brake Armature insulation class Class F

(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values (Note 2) Use the HF motor in combination with the MDS-D-SVJ3 Series drive unit compatible with the 200VAC input. (Note 3) The shaft-through portion is excluded.

Rated current Rated torque [N·m] 1.8 2.4 1.6 3.2 4.8 6.4 11.1 Stall current [A] 3.2 4.6 3.2 6.6 11.0 14.6 22.0 Stall torque [N·m] 2.0 3.0 2.9 5.9 9.0 13.7 22.5

Ambient temperature

Ambient humidity Atmosphere

Altitude Vibration X:19.6m/s

when combined with the drive unit. This motor is not compatible with the conventional MDS-B/C1/CH Series.

MDS-D-SVJ3- 07 07 07 10 20 20 35

[A] 2.8 3.6 1.8 3.6 5.8 6.8 13.8

[kW/s] 12.3 11.2 4.1 8.4 12.7 10.6 16.5

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

Fully closed, self-cooling (Protection method: IP67) (Note3)

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

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

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

[kg]

2.5/

3.9

4.3/

ABS specifications: HF□-A48

Resolution per motor revolution

A48：260,000pulse/rev

Operation: 0 to 40°C (with no freezing),

Storage: -15°C to 70°C (with no freezing)

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

5.7

(2G) Y:19.6m/s2(2G)

4.8/

6.8

6.5/

8.5

8.3/

10.3

12.0/

18.0

19.0/

25.0

2 - 2

2-1-2 Torque characteristics

(1) HF Series

［ HF75 ］

2. Specifications

［ HF105 ］

7.5

Short time operation range

Torque [N

2.5

Continuous operation range

0 2000 5000

Rotation speed [r/min]

4000 4000

［ HF54 ］

Short time operation range

Torque [N

Continuous operation range

0 2000 4000

Rotation speed [r/min]

Torque [N

Short time operation range

Continuous operation range

0 2000 5000

Rotation speed [r/min]

［ HF104 ］

Short time operation range

10 206

Torque [N

Continuous operation range

0 2000 4000

Rotation speed [r/min]

［ HF154 ］

Short time operation range

Torque [N

ontinuous

operation range

0 2000 4000

Rotation speed [r/min]

［ HF204 ］

Short time operation range

Torque [N

Continuous operation range

0 2000 4000

Rotation speed [r/min]

［ HF354 ］

Torque [N

Short time operation range

Continuous operation range

0 1500 3500

Rotation speed [r/min]

3000

The above graphs show the data

(Note)

when applied the input voltage o 200VAC. When the input voltage is 200VAC or less, the short tim e operation range is limited.

2 - 3

2. Specifications

2-2 Spindle motor

2-2-1 Specifications

Spindle motor type

Compatible spindle drive unit type MDS-D-SPJ3-

Output capacity

Base rotation speed [r/min] 1500 Maximum rotation speed [r/min] 10000 8000 6000 Frame No. A71 B71 A90 B90 D90 A112 B112 Continuous rated torque [N･m]

Inertia [kg･cm2] GD2 [kg･cm2] Tolerable radial load [N] 490 490 980 980 1470 1960 1960

Cooling fan

Environment

Weight [kg] 15 20 25 30 49 60 70 Insulation Class F

(Note 1)

Continuous rating [kW] Short time rated output [kW]

Input voltage Maximum power

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

Altitude

The rated output is guaranteed at the rated input voltage (200/220/230VAC) to the drive unit.

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

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

(Note 2)

The tolerable radial load is the value calculated at the center of output shaft.

(Note 3)

The protection level is IP44.

(Note 4)

0.75 (10min) 1.5 (10min) 2.2 (15min) 3.7 (15min) 5.5 (30min) 7.5 (30min) 11.0 (30min)

Single-phase

SJ-VL SJ-V

0.75-01E 1.5-01E 2.2-01E 3.7-01E 5.5-01E 7.5-01E 11-01E

075 22 22 37 55 75 110

0.4 0.75 1.5 2.2 3.7 5.5 7.5

2.55 4.77 9.55 14.0 23.5 35.0 47.8 13 24 65 85 137 235 298 53 96 260 340 550 940 1190

200V 14W 14W 42W 42W 42W 40W 40W

Single-phase

200V

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

Motor with fan SJ Serise

Single-phase

200V

Single-phase

200V

Single-phase

200V

3-phase

200V

3-phase

200V

2 - 4

t [

]

2-2-2 Output characteristics

[ Motor with fan series SJ-VL0.75-01E ] [ Motor with fan series SJ-VL1.5-01E ]

2. Specifications

0.75

0.45

0.4

0.24

0 1500 6000

15-minute rating

Continuous rating

Rotation speed [r/min]

[ Motor with fan series SJ-V2.2-01E] [ Motor with fan series SJ-V3.7-01E]

2.2 15-minute rating

1.5

1.3

0.9

Output [kW]

0 1500 6000

Continuous rating

Rotation speed [r/min]

1.5 15-minute rating

0.9

0.75

Output [kW]

0.45

10000 0 1500 6000

Continuous rating

Rotation speed [r/min]

3.7

15-minute rating

2.2

Output [kW]

1.3

10000 0 1500 6000

Continuous rating

Rotation speed [r/min]

10000

[ Motor with fan series SJ-V5.5-01E] [ Motor with fan series SJ-V7.5-01E]

5.5 15-minute rating

4.1

3.7

2.8

Output [kW]

0 1500 6000

Continuous rating

Rotation speed [r/min]

[ Motor with fan series SJ-V11-01E]

8.3

7.5

5.6

Output [kW]

15-minute rating

Continuous rating

7.5

15-minute rating

5.5

4.1

Output [kW]

8000 0 1500 6000

Continuous rating

Rotation speed [r/min]

8000

0 1500 4500

6000

Rotation speed [r/min]

2 - 5

2. Specifications

2-3 Drive unit

2-3-1 Installation environment conditions

Common installation environment conditions for servo and spindle are shown below.

Environment

2-3-2 Servo drive unit

Servo drive unit type

Rated output [kW] 0.3 0.4 0.7 1.0 2.0 3.5 Power facility capacity [kVA] 0.5 1.0 1.3 1.7 3.5 5.5

Input

Output

Control power

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

Control method Braking

External analog output Structure Cooling method Weight

Heat radiated at rated output

Noise

Ambient temperature Operation: 0 to 55°C (with no freezing), Storage / Transportation: -15°C to 70°C (with no freezing) Ambient humidity

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

Vibration/impact 4.9m/s

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

MDS-D-SVJ3- 03 04 07 10 20 35

Rated voltage [V] 200AC (50Hz) /200 to 230AC (60Hz) Frequency [Hz] 50/60 Frequency fluctuation within ±5%

Rated current [A] 1.5 2.9 3.8 5.0 10.5 16.0 Rated voltage [V] AC155 Rated current [A] 1.5 3.2 5.8 6.0 11.0 17.0 Voltage Frequency [Hz] 50/60 Frequency fluctuation within ±5% Current Rush current [A] Max.30

Rush conductivity time

Dynamic brakes Built-in

[V] 200AC (50Hz) /200 to 230AC (60Hz)

[A] Max.0.2

[ms] Max.6

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

[kg] 0.8 1.0 1.4 2.3 2.3 2.3 [W] 25 35 50 90 130 195

Self-cooling Forced wind cooling

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

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

Indoors (no direct sunlight)

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

Servo drive unit MDS-D-SVJ3 Series

Power fluctuation rate within +10%, -15%

Converter with resistor regeneration circuit

Sine wave PWM control method

Regenerative braking and dynamic brakes

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

Less than 55dB

2 - 6

2-3-3 Spindle drive unit

Spindle drive unit type

Rated output Power facility capacity

Input

Output

Control power

Earth leakage current Main circuit method

Control method Braking

External analog output Structure Cooling method Weight

Heat radiated at continuous rated output

Noise

MDS-D-SPJ3- 075 22 37 55 75 110

Rated voltage [V] 200AC (50Hz) / 200 to 230AC (60Hz) Power fluctuation rate within +10%, -15% Frequency

Rated current [A] 2.6 9.0 10.5 16.0 26.0 35.4 Rated voltage [V] 270 to 311DC Rated current [A] 4.5 10.0 11.0 18.0 26.0 36.0 Voltage Frequency Current Rush current [A] Max.30

Rush conductivity time

[kW] 0.75 2.2 3.7 5.5 7.5 11.0 [kVA] 2.0 4.0 7.0 9.0 12.0 17.0

[Hz] 50/60

[V] 200AC (50Hz) / 200 to 230AC (60Hz) Power fluctuation rate within +10%, -15% [Hz] 50/60 [A] Max.0.2

[ms] Max.6

[mA] 6 (Max. 15)

[kg] 1.4 2.1 2.1 4.6 4.6 6.5 [W] 50 90 130 150 200 300

2. Specifications

Spindle drive unit MDS-D-SPJ3 Series

Frequency fluctuation within: ±5%

Converter with resistor regeneration circuit

Sine wave PWM control method

Regenerative braking

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

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

Forced wind cooling

Less than 55dB

2 - 7

2. Specifications

2-3-4 D/A output specifications for servo drive unit

(1) D/A output specifications

Item Explanation

2ch

Output cycle Output precision Output voltage range

Output magnification setting

Output pin (CN9 connector)

0.8ms (min. value) 10bit 0V to 2.5V (zero) to +5V

-32768% to +32767% (1% scale)

MO1 = Pin 4 MO2 = Pin 14 GND = Pins 1, 11

CN9 connector

1 2 3 4 5 6 7 8

Name

MO1

11 12 13 14 15 16 17 18 19 20

Name

MO2

MDS-D-SVJ3

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.

Memory

+5 [V]

Speed FB

+2.5 [V]

0 [V]

+5 [V]

Current FB

+2.5 [V]

Scroll

2 - 8

0 [V]

Example of D/A output waveform

2. Specifications

(2) Output data settings

No. Abbrev. Parameter name Explanation

SV061 DA1NO D/A output channel 1 data No. Input the No. of the data to be output to each D/A output channel. SV062 DA2NO D/A output channel 2 data No.

No. Output data

Commanded rotation speed

Motor rotation speed

Torque command

Torque feedback

Machine vibration frequency

Collision detection estimated torque

*1 The estimated load inertia ratio (unit: 100%) is applied for the rotary motor, and the moving sections gross weight (unit: 100kg) for

Collision detection disturbance estimated

torque Estimated load inertia ratio

or moving sections gross weight

Position droop

Position command

Position feedback

52 53 Position F⊿T

Deviation from ideal position

(considering servo tracking delay)

Position droop

Position command

Position feedback

62 63 Position F⊿T

Deviation from ideal position

(considering servo tracking delay)

Position droop

Position command

Position feedback

72 73 Position F⊿T

Deviation from ideal position

(considering servo tracking delay)

126

Saw tooth wave

127

2.5V test data

the linear motor.

Standard output unit

Linear axis Rotary axis

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

100%/V 0.8ms 100%/V 0.8ms

500Hz/V 0.8ms

100% 0.8ms 100% 0.8ms

100% or 100kg 0.8ms

1µm/V 1µm/V

1µm/V

1µm/s/V

1µm/V

1mm/V 1mm/V 1mm/V

1mm/s/V

1mm/V

1m/V 1m/V 1m/V

1m/s/V

1m/V

1/1000°/V 1/1000°/V

1/1000°/V

1/1000°/s/V

1/1000°/V

1°/V 1°/V 1°/V

1°/s/V

1°/V

1000°/V 1000°/V 1000°/V

1000°/s/V

1000°/V

0V to 5V 0.8ms

2.5V 0.8ms

Output cycle

0.8ms

2 - 9

2. Specifications

< Servo control signal >

Servo control input (NC to SVJ3) Servo control output (SVJ3 to NC)

No. Details No. Details 16384 16385

16391

16409 16410 16411

16416

Servo control input 1-0 READY ON command Servo control input 1-1 Servo ON command

Servo control input 1-7 Alarm reset command

Servo control input 2-9 Speed monitor command valid Servo control input 2-A In door closed (controller) Servo control input 2-B In door closed (all drive units)

Servo control input 3-0 Control axis detachment

command

16480

Servo control output 1-0 In READY ON

16481

Servo control output 1-1 In servo ON

16487

Servo control output 1-7 In alarm

16492

Servo control output 1-C In in-position

16493

Servo control output 1-D In current limit

16494

Servo control output 1-E In absolute position data loss

16495

Servo control output 1-F In warning

16496

Servo control output 2-0 Z phase passed

16499

Servo control output 2-3 In zero speed

16503

Servo control output 2-7 In external emergency stop

16505

Servo control output 2-9 In speed monitor

16506

Servo control output 2-A In door closed (controller)

16507

Servo control output 2-B In door closed

(self drive unit)

16512

Servo control output 3-0 In control axis detachment

2 - 10

2. Specifications

2-3-5 D/A output specifications for spindle drive unit

(1) D/A output specifications

Item Explanation

Output cycle Output precision Output voltage range

Output magnification setting

Output pin (CN9 connector)

2ch

0.8ms (min. value) 10bit 0V to 2.5V (zero) to +5V

±32768

MO1 = Pin 4 MO2 = Pin 14 GND = Pins 1, 11

CN9 connector

Name

1 2 3 4

MO1 5 6 7 8

Name

11 12 13

14 15 16 17 18 19 20

MO2

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

Speed FB

Current FB

MDS-D-SPJ3

Memory

Scroll

+5 [V]

+2.5 [V]

0 [V]

+5 [V]

+2.5 [V]

0 [V]

Example of D/A output waveform

2 - 11

2. Specifications

(2) Setting the output data

No. Abbrev. Parameter name Explanation

SP125 DA1NO SP126 DA2NO

No. Output data

0 Commanded motor rotation speed 1 Motor rotation speed 2 Torque current command 3 Torque current feedback

50 Position droop

60 Position droop

127

2.5V test data output

D/A output channel 1 data No. D/A output channel 2 data No.

Input the No. of the data to be output to each D/A output channel.

Output unit

for standard setting

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

100%/V 0.8ms 100%/V 0.8ms

1/1000°/V 0.8ms

1°/V 0.8ms

2.5V 0.8ms

Output cycle

2 - 12

2. Specifications

< Spindle control signal>

Spindle control input (NC to SPJ3) Spindle control output (SPJ3 to NC)

No. Details No. Details

16384

Spindle control input 1-0 READY ON command

16385

Spindle control input 1-1 Servo ON command

16391

Spindle control input 1-7 Alarm reset command

16392

Spindle control input 1-8 Torque limit 1 selection

16393

Spindle control input 1-9 Torque limit 2 selection

16394

Spindle control input 1-A Torque limit 3 selection

16409

Spindle control input 2-9 Speed monitor command

16410

Spindle control input 2-A In door closed (controller)

16411

Spindle control input 2-B In door closed

16432

Spindle control input 4-0 Spindle control mode

16433

Spindle control input 4-1 Spindle control mode

16434

Spindle control input 4-2 Spindle control mode

16437

Spindle control input 4-5 Gear selection command 1

16438

Spindle control input 4-6 Gear selection command 2

16444

Spindle control input 4-C M coil selection command

16445

Spindle control input 4-D L coil selection command

16446

Spindle control input 4-E Sub-motor selection

16462

Spindle control input 5-E Spindle holding force up

command

valid

(all drive units)

selection command 1

selection command 2

selection command 3

command

16480

Spindle control output 1-0 In ready ON

16481

Spindle control output 1-1 In servo ON

16487

Spindle control output 1-7 In alarm

16488

Spindle control output 1-8 In torque limit 1 selection

16489

Spindle control output 1-9 In torque limit 2 selection

16490

Spindle control output 1-A In torque limit 3 selection

16492

Spindle control output 1-C In in-position

16493

Spindle control output 1-D In torque limit

16495

Spindle control output 1-F In warning

16496

Spindle control output 2-0 Z phase passed

16499

Spindle control output 2-3 In zero speed

16503

Spindle control output 2-7 In external emergency stop

16505

Spindle control output 2-9 In speed monitor

16506

Spindle control output 2-A In door closed (controller)

16507

Spindle control output 2-B In door closed

(self drive unit)

16528

Spindle control output 4-0 In spindle control mode

16529

Spindle control output 4-1 In spindle control mode

16530

Spindle control output 4-2 In spindle control mode

16533

Spindle control output 4-5 In gear selection 1

16534

Spindle control output 4-6 In gear selection 2

16540

Spindle control output 4-C In M coil selection

16541

Spindle control output 4-D In L coil selection

16542

Spindle control output 4-E In sub-motor selection

16544

Spindle control output 5-0 Current detection

16545

Spindle control output 5-1 Speed detection

16550

Spindle control output 5-6 In coil changeover

16552

Spindle control output 5-8 In 1 drive unit 2 motor

16553

Spindle control output 5-9 2nd speed detection

16558

Spindle control output 5-E In spindle holding force up

16559

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

selection 1

selection 2

selection 3

changeover

2 - 13

2-3-6 Explanation of each part

(1) Explanation of each servo drive unit part

(1)

2. Specifications

(2) (3)

(10)

(11)

(12)

(13)

MDS-D-SVJ3-03/04/07

(4)

(5)

(6)

(7) (8)

(9)

(10)

(12)

(11)

MDS-D-SVJ3-10/20/35

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

(1) LED --- Unit status indication LED --(2) SW1 --- Axis No. setting switch --(3) SW2 --- For machine tool builder adjustment (Always ON) --(4) CN9 --- DI/O or maintenance connector --(5) CN1A --- NC or master axis optical communication connector --(6) CN1B --- Slave axis optical communication connector --(7) CN2 --- Motor side detector connection connector ---

Control circuit

(8) CN3 --- Machine side detector connection connector --(9)

(10) CNP1 (11) CNP2

(12)

Main circuit

CNP3 U, V, W Motor power output terminal (3-phase AC output) ---

Name Description Screw size

BAT --- Battery connection connector ---

L1,L2,L3

N,P1,P2

P,C,D

L11,L21

L1,L2,L3: 3-phase AC power input N,P1,P2: not used (short-circuit between the P1 and P2.) Regenerative resistor connection terminal Control power input terminal (single-phase AC input)

---

(13)

Grounding terminal M4 x 10

2 - 14

2. Specifications

(2) Explanation of each spindle drive unit (0.75 to 3.7kW) part

(1) (2)

(9)

(10)

(11)

(12)

MDS-D-SPJ3-075/22/37

(3)

(4)

(5)

(6)

(7) (8)

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

(1) LED --- Unit status indication LED --(2) SW1 --- Axis No. setting switch --(3) SW2 --- For machine tool builder adjustment (always ON) --(4) CN9 --- DI/O or maintenance connector --(5) CN1A --- NC or master axis optical communication connector --(6) CN1B --- Slave axis optical communication connector ---

Control circuit

(7) CN2 --- Motor side detector connection connector --(8)

(9) CNP1 (10) CNP2

(11)

CN3 --- Machine side detector connection connector ---

Main circuit

CNP3 U, V, W Motor power output terminal (3-phase AC output) ---

Name Description Screw size

L1,L2,L3

N,P1,P2

P,C,D

L11,L21

L1,L2,L3: 3-phase AC power input N,P1,P2: Not used (short-circuit between the P1 and P2.) Regenerative resistor connection terminal Control power input terminal (single-phase AC input)

---

(12)

Grounding terminal M4 x 10

2 - 15

2. Specifications

(3) Explanation of each spindle drive unit (5.5 to 11kW) part

(1)

(9) (10) (11)

MDS-D-SPJ3-55/75

(2) (3)

(4)

(5)

(6)

(7) (8)

(10)

(11)

MDS-D-SPJ3-110

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

(1) LED --- Unit status indication LED ---

(2) SW1 --- Axis No. setting switch ---

(3) SW2 --- For machine tool builder adjustment (always ON) ---

(4) CN9 --- DI/O or maintenance connector ---

(5) CN1A --- NC or master axis optical communication connector ---

(6) CN1B --- Slave axis optical communication connector ---

(7) CN2 --- Motor side detector connection connector ---

(8)

(9) TE2 L11,L21 Control power input terminal (single-phase AC input)

(10)

(11)

Control circuit

Main

circuit

Name Description Screw size

CN3 --- Machine side detector connection connector ---

M3.5×6

TE1

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)

Grounding terminal

M4×10

(9)

2 - 16

3. Characteristics

3-1 Servomotor.........................................................................................................................................3-2

3-1-1 Environmental conditions............................................................................................................3-2

3-1-2 Quakeproof level......................................................................................................................... 3-2

3-1-3 Shaft characteristics.................................................................................................................... 3-3

3-1-4 Oil / water standards ...................................................................................................................3-4

3-1-5 Magnetic brake............................................................................................................................3-5

3-1-6 Dynamic brake characteristics .................................................................................................... 3-8

3-2 Spindle motor...................................................................................................................................3-10

3-2-1 Environmental conditions..........................................................................................................3-10

3-2-2 Shaft characteristics.................................................................................................................. 3-10

3-3 Drive unit characteristics.................................................................................................................. 3-11

3-3-1 Environmental conditions..........................................................................................................3-11

3-3-2 Heating value ............................................................................................................................3-12

3-3-3 Overload protection characteristics...........................................................................................3-13

3 - 1

3-1 Servomotor

3-1-1 Environmental conditions

Environment Conditions

Ambient temperature Ambient humidity Atmosphere Altitude

Vibration X: 19.6m/s2 (2G) Y: 19.6m/s2 (2G)

3-1-2 Quakeproof level

Motor type

3. Characteristics

Operation: 0 to 40°C (with no freezing),

Storage: -15°C to 70°C (with no freezing)

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

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

Indoors (no direct sunlight);

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

Operation: 1000 meters or less above sea level,

Storage: 10000 meters or less above sea level

Acceleration direction

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

HF75, HF105

X: 9.8m/s

HF54, HF104, HF154

HF204, HF354

X: 19.6m/s

The vibration conditions are as shown below.

200

100

80 60 50 40 30

Vibration amplitude

(double-sway width) (µm)

1000 2000 30000

Speed (r/min)

(1G) or less Y: 24.5m/s2 (2.5G) or less

(2G) or less Y: 49m/s2 (5G) or less

cceleration

Servomotor

3 - 2

3. Characteristics

3-1-3 Shaft characteristics

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

Servomotor Tolerable radial load Tolerable thrust load

HF75T, 105T (Taper shaft) 245N (L=33) 147N HF75S, 105S (Straight shaft) 245N (L=33) 147N HF54T, 104T, 154T (Taper shaft) 392N (L=58) 490N HF54S, 104S, 154S (Straight shaft) 980N (L=55) 490N

HF204S, 354S (Straight shaft) 2058N (L=79) 980N

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

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

CAUTION

Radial load

Thrust load

1. Use a flexible coupling when connecting with a ball screw, etc., and keep the shaft core deviation to below the tolerable radial load of the shaft.

2. When directly installing the gear on the motor shaft, the radial load increases as the diameter of the gear decreases. This should be carefully considered when designing the machine.

3. When directly installing the pulley on the motor shaft, carefully consider so that the radial load (double the tension) generated from the timing belt tension is less than the values shown in the table above.

4. In machines where thrust loads such as a worm gear are applied, carefully consider providing separate bearings, etc., on the machine side so that loads exceeding the tolerable thrust loads are not applied to the motor.

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

3 - 3

3-1-4 Oil / water standards

3. Characteristics

(1) The motor protective format uses the IP type, which complies

with IEC Standard. (Refer to the section "2-1-1 Specifications

Oil or water

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

Servomotor

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

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

Servomotor Oil level (mm)

HF75, HF105 15 HF54, HF104, HF154 22.5 HF204, HF354 30

Oil level

Gear

Lip

V-ring

Servomotor

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

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

Cable trap

1. The servomotors, including those having IP67 specifications, do not have a completely waterproof (oil-proof) structure. Do not allow oil or water to constantly contact the motor, enter the motor, or accumulate on the motor. Oil can also enter the motor through cutting chip accumulation, so be careful of

CAUTION

this also.

2. When the motor is installed facing upwards, take measures on the machine side so that gear oil, etc., does not flow onto the motor shaft.

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

3 - 4

3-1-5 Magnetic brake

1. The axis will not be mechanically held even when the dynamic brakes are used. If the machine could drop when the power fails, use a servomotor with magnetic brakes or provide an external brake mechanism as holding means to prevent dropping.

2. The magnetic brakes are used for holding, and must not be used for normal braking. There may be cases when holding is not possible due to the life or machine structure (when ball screw and servomotor are coupled with a timing

CAUTION

belt, etc.). Provide a stop device on the machine side to ensure safety.

3. When operating the brakes, always turn the servo OFF (or ready OFF). When releasing the brakes, always confirm that the servo is ON first. Sequence control considering this condition is possible by using the brake contact connection terminal (CN20) on the servo drive unit.

4. When the vertical axis drop prevention function is used, the drop of the vertical axis during an emergency stop can be suppressed to the minimum.

(1) Motor with magnetic brake

(a) Types

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

(b) Applications

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

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

• The brake mechanism is simple and the reliability is high.

• There is no need to change the brake tap between 50Hz and 60Hz.

• There is no rush current when the excitation occurs, and shock does not occur.

• The brake section is not larger than the motor section.

2) The magnetic brake is built into the motor, and the installation dimensions are the same as the motor without brake.

(d) Considerations to safety

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

3. Characteristics

Dangerous!

Motor

Brake

Timing belt

Top

Load

Bottom

Ball screw

3 - 5

Safe!

Motor

(No brakes)

Timing belt

Load

Bottom

Ball screw

Brake

Top

3. Characteristics

(2) Magnetic brake characteristics

Motor type

Item

Type (Note 1) Rated voltage 24VDC

Rated current at 20°C (A) 0.38 0.8 1.4 Capacity (W) 9 19 34 Static friction torque (N•m) 2.4 8.3 43.1 Inertia (Note 2) Release delay time (Note 3) (s) 0.03 0.04 0.1

Braking delay time (DC OFF)

(Note 3)

Tolerable braking work amount

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

Brake life

(Note 1) There is no manual release mechanism. If handling is required such as duri ng the machine core alignment work,

(Note 2) These are the values added to the servomotor without a brake. (Note 3) This is the representative value for the initial attraction gap at 20°C. (Note 4) The brake gap will widen through brake lining wear caused by braking. However, the gap cannot be adjusted. Thus,

(Note 5) A leakage flux will be generated at the shaft end of the servomotor with a magnetic brake. (Note 6) When operating in low speed regions, the sound of loose brake lining may be heard. However, this is not a problem in

Per braking (J) 64 400 4,500 Per hour (J) 640 4,000 4,5000

No. of braking

(Note 4)

operations Work amount per braking

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

the brake life is considered to be reached when adjustments are required.

terms of function.

(kg•cm

)

(s) 0.03 0.03 0.03

(times) 20,000 20,000 20,000 (J) 32 200 1,000

HF75B

HF105B

Spring closed non-exciting operation magnetic brakes

(for maintenance and emergency braking)

0.2 2.2 9.7

HF54B HF104B HF154B

HF204B HF354B

3 - 6

(3) Magnetic brake power supply

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

CAUTION

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

(a) Brake excitation power supply

1) Prepare a brake excitation power supply that can accurately ensure the attraction current in consideration of the voltage fluctuation and excitation coil temperature.

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

(b) Brake excitation circuit

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

• Provide sufficient DC cut off capacity at the contact.

• Always use a surge absorber.

• When using the cannon plug type, the surge absorber will be further away, so use

shielded wires between the motor and surge absorber.

3. Characteristics

100VAC or 200VAC

PS ZD1, ZD2 VAR1, VAR2

24VDC

SW1

ZD1

VAR1

ZD2

(b) Example of DC OFF

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

Magnetic brake circuits

SW2

VAR2

Magnetic brake 1

Magnetic brake 2

3 - 7

3. Characteristics

3-1-6 Dynamic brake characteristics

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

(1) Deceleration torque

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

Deceleration torque

Tdp

Deceleration torque characteristics of a dynamic brake

Max. deceleration torque of a dynamic brake

Motor type

HF75 2.0 2.71 4120 HF105 3.0 5.10 5000 HF54 2.9 1.98 1886 HF104 5.9 10.02 735 HF154 9.0 15.65 850 HF204 13.7 15.97 617 HF354 22.5 35.28 908

Ndp

Motor speed

Stall torque

m)

Tdp

(Nm)

Ndp

(r/min)

3 - 8

3. Characteristics

(2) Coasting rotation distance during emergency stop

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

MAX =

 {te + (1 +

MAX : Motor coasting distance (angle) [mm, (deg)]

L F

)  (A  N2 + B)}

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

M : Motor inertia [kgcm

L : Motor shaft conversion load inertia [kgcm

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

Emergency stop (EMG)

OFF ON

OFF

Dynamic brake control output

ctual dynamic brake operation

OFF ON

Motor speed

Coasting amount

]

Time

Dynamic brake braking diagram

Coasting amount calculation coefficients table

Motor type

HF75 2.6 HF105 5.1 HF54 6.1 HF104 11.9 HF154 17.8 HF204 38.3 HF354 75.0

(kgcm2)

A B

-9

×10

0.41

0.31

2.85

2.82

2.34

6.78

4.09

×10 ×10 ×10 ×10 ×10 ×10

-9

20.66×10

29.01×10

30.40×10

4.57×10

5.06×10

7.75×10

10.11×10

-3

3 - 9

3. Characteristics

3-2 Spindle motor

3-2-1 Environmental conditions

Environment Conditions

Ambient temperature

Ambient humidity

Atmosphere

Altitude

3-2-2 Shaft characteristics

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

Spindle motor Tolerable radial load

Operation: 0 to 40°C (with no freezing),

Storage: -20°C to 65°C (with no freezing)

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

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

Indoors (no direct sunlight);

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

Operation: 1000 meters or less above sea level,

Storage: 1000 meters or less above sea level,

Transportation: 10000 meters or less above sea level

SJ-VL0.75-01E, SJ-VL1.5-01E 490N

SJ-V2.2-01E, SJ-V3.7-01E 980N

SJ-V5.5-01E 1470N

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

Radial load

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

3 - 10

3-3 Drive unit characteristics

3-3-1 Environmental conditions

Environment Conditions

Ambient temperature Ambient humidity Atmosphere Altitude

Vibration/impact 4.9m/s2 (0.5G) / 49m/s2 (5G)

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

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

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

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

3. Characteristics

Operation: 0 to 55°C (with no freezing),

Storage / Transportation: -15°C to 70°C (with no freezing)

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

Indoors (no direct sunlight)

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

Transportation: 13000 meters or less above sea level

3 - 11

3. Characteristics

3-3-2 Heating value

Each heating value is calculated with the following values. The values for the servo drive unit apply at the stall output. The values for the spindle drive unit apply for the continuous rated output.

Servo drive unit Spindle drive unit

Type

MDS-D-SVJ3-

03 04 07 10 20 35

Heating value

[W]

Inside panel

25 35 50

90 130 195

Type

MDS-D-SPJ3-

075

22 37 55 75

110

Design the panel's heating value taking the actual axis operation (load rate) into consideration. The following table shows a load rate in a general machine tool.

POINT

Servo drive unit 50% Spindle drive unit 100%

Unit Load rate

Heating value

[W]

Inside panel

90 130 150 200 300

3 - 12

3. Characteristics

3-3-3 Overload protection characteristics

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

(1) Motor HF75

10000.0

1000.0

100.0

Time (s)

10.0

1.0

0.1

(2) Motor HF105

10000.0

When rotating When stopped

0 100 200 300 400 500 600 700

Motor current (stall current % )

When rotating

1000.0

100.0

Time (s)

10.0

1.0

0.1 0 100 200 300 400 500

Motor current (stall current %)

3 - 13

When stopped

(3) Motor HF54

3. Characteristics

10000.0

1000.0

100.0

Time (s)

10.0

1.0

0.1

(4) Motor HF104

10000.0

1000.0

When rotating When stopped

0 100 200 300 400 500 600 700

Motor current (stall current %)

When rotating When stopped

100.0

Time (s)

10.0

1.0

0.1 0 100 200 300 400 500 600 700

Motor current (stall current % )

3 - 14

(5) Motor HF154

3. Characteristics

10000.0

1000.0

100.0

Time (s)

10.0

1.0

0.1

(6) Motor HF204

10000.0

1000.0

When rotating When stopped

0 100 200 300 400 500 600 700

Motor current (stall current %)

When rotating When stopped

100.0

Time (s)

10.0

1.0

0.1 0 100 200 300 400 500

Motor current (stall current % )

3 - 15

(7) Motor HF354

3. Characteristics

10000.0

1000.0

100.0

Time (s)

10.0

When rotating When stopped

1.0

0.1 0 100 200 300 400 500

Motor current (stall current %)

3 - 16

4. Dedicated Options

4-1 Servo options ..................................................................................................................................... 4-2

4-1-1 Battery option (MR-J3BAT).........................................................................................................4-5

4-1-2 Ball screw side detector (OSA105-ET2) ..................................................................................... 4-7

4-1-3 Machine side detector.................................................................................................................4-9

4-2 Spindle options................................................................................................................................. 4-13

4-2-1 Spindle side detector (OSE-1024-3-15-68, OSE-1024-3-15-68-8)........................................... 4-14

4-2-2 C axis detector (HEIDENHAIN ERM280)..................................................................................4-16

4-3 Regenerative option......................................................................................................................... 4-18

4-4 Detector interface unit...................................................................................................................... 4-20

4-4-1 MDS-B-HR.................................................................................................................................4-20

4-4-2 APE391M .................................................................................................................................. 4-22

4-4-3 MJ831........................................................................................................................................4-23

4-5 Cables and connectors ....................................................................................................................4-24

4-5-1 Cable connection diagram ........................................................................................................4-24

4-5-2 List of cables and connectors.................................................................................................... 4-25

4-5-3 Optical communication cable specifications .............................................................................4-29

4 - 1

4. Dedicated Options

4-1 Servo options

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

(1) Corresponding machine side detector

For MDS-D-SVJ3 series, various linear scales and rotary encoders can be used as machine side detectors. Note that, however, resolutions that can be used are limited.

Axis type Detector resolution that can be used

Linear scale (For linear axis) 1nm or more Rotary encoder (For rotary axis)

36,000,000pulse/rev or less

1/100,000°）or more

（

POINT

Contact MITSUBISHI for resolutions exceeding the limits.

4 - 2

4. Dedicated Options

(2) System establishment in the full closed loop control

Refer to the table below to confirm the interface unit (I/F) and battery option required for the full closed loop control. Absolute position detector is not required for the motor side detector when using absolute position scale.

Machine side detector

to be used

OSA105-ET2 Relative position linear scale

(Various types) Relative position rotary encoder (Various types) Relative position linear scale SR33 (SONY)

Relative position linear scale LS186, LS486, etc. (HEIDENHAIN)

Relative position linear scale (Various types) Relative position rotary encoder (Various types)

Relative position linear scale SH13 (SONY)

Relative position linear scale LS186, LS486, etc. (HEIDENHAIN)

Relative position rotary encoder ERM280 1024/1200/2048, etc. (HEIDENHAIN) Absolute position linear scale AT342, AT343, AT543 (Mitutoyo) Absolute position linear scale LC191M, LC491M (HEIDENHAIN) Absolute position rotary encoder RCN223, RCN723 (HEIDENHAIN) Absolute position rotary encoder MPRZ series (MME)

Detector

signal output

Serial

communication

Oblong wave

signal output

Analog

1Vp-p

SIN wave

signal output

Analog

1Vp-p

SIN wave

signal output

Analog 1Vp-p

SIN wave

signal output

Analog 1Vp-p

SIN wave

signal output

Analog

1Vp-p

SIN wave

signal output

Serial

communication

Serial

communication

Serial

communication

Required

interface unit (I/F)

- -

- - Incremental

CN33

(SONY)

IBV series

(HEIDENHAIN)

MDS-B-HR-11

MJ831

(SONY)

APE391M A0

(HEIDENHAIN)

APE391M C0

series

APE391M C2

series

(HEIDENHAIN)

- -

ADB-20J71

(MME)

I/F signal

output

Oblong wave signal output

Serial

communication

Serial

communication

Serial

communication

Serial

communication

Serial

communication

Servo system

specifications

Absolute

position

Incremental

Absolute

position

Absolute

position

Absolute

position

Absolute

position

Remarks

Requires battery option

ER6V-C119B, etc.

Contact: Each machine

side detector

manufacturer

Contact:

Sony Manufacturing

Contact:

HEIDENHAIN

Contact: Each machine

side detector

manufacturer

Contact:

Sony Manufacturing

Contact:

HEIDENHAIN

Contact:

HEIDENHAIN

Contact: Mitutoyo

Contact:

HEIDENHAIN

Contact:

HEIDENHAIN

Contact:

MME Corporation

4 - 3

4. Dedicated Options

Contact information about machine side detector

Mitutoyo Corporation http://www.mitutoyo.co.jp/ Sony Manufacturing Systems Corporation http://www.sonysms.co.jp/ HEIDENHAIN CORPORATION http://www.heidenhain.co.jp/ MHI MACHINE TOOL ENGINEERING CO., LTD http://www.mme-e.co.jp/

The absolute position system cannot be established in combination with the

POINT

relative position (incremental) machine side detector and absolute position motor side detector.

4 - 4

4. Dedicated Options

4-1-1 Battery option (MR-J3BAT)

This battery option may be required to establish absolute position system. Refer to the section "4-1 Servo option" and use the following battery option depending on the servo system.

Type MR-J3BAT

Installation type Hazard class Not applicable Number of connectable axes Battery change Appearance

Drive unit with battery holder type

1 axis

Possible

(1)

(1) Cell battery (MR-J3BAT) < Specifications >

Battery option type

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

Number of connectable axes 1 axis Battery continuous backup time Approx. 20000 hours Battery useful life (From date of unit manufacture) Data save time in battery replacement Back up time from battery warning to alarm occurrence (Note2)

Weight 20g

(Note1) MR-J3BAT is a battery built in a servo drive unit. Install this battery only in the servo drive unit that executes absolute

position control.

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

alarm occurs. The absolute position may be lost before the battery alarm occurs. Change the battery periodically.

Hazard class Battery shape

Number of batteries used Lithium alloy content

Mercury content

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

Cell battery

MR-J3BAT

Approx. 100 hours

（Note1）

Single battery

ER6V×1

0.7g

1g or less

7 years

4 - 5

< Installing the cell battery >

4. Dedicated Options

Insert the connector into CN4.

1. On January 1, 2003, new United Nations requirements, "United Nations Dangerous Goods Regulations Article 12", became effective regarding the transportation of lithium batteries. The lithium batteries are classified as hazardous materials (Class 9) depending on the unit. (Refer to Appendix 4.)

2. The lithium battery must be transported according to the rules set forth by the International Civil Aviation Organization (ICAO), International Air Transportation Association (IATA), International Maritime Organization (IMO), and United States Department of Transportation (DOT), etc. The packaging methods, correct transportation methods, and special regulations are specified according to the quantity of lithium alloys. The battery unit

CAUTION

exported from Mitsubishi is packaged in a container (UN approved part) satisfying the standards set forth in this UN Advisory.

3. To protect the absolute value, do not shut off the servo drive unit control power supply if the battery voltage becomes low (warning 9F).

4. Contact the Service Center when replacing the battery.

5. The battery life (backup time) is greatly affected by the working ambient temperature. The above data is the theoretical value for when the battery is used 8 hours a day/240 days a year at an ambient temperature of 25°C. Generally, if the ambient temperature increases, the backup time and useful life will both decrease.

4 - 6

4. Dedicated Options

4-1-2 Ball screw side detector (OSA105-ET2)

(1) Specifications

Detector type

Electrical characteristics

Mechanical characteristics for rotation

Mechanical configuration

Working environment

(Note) If the tolerable rotation speed at power off is exceeded, position deviation will occur.

Detector resolution 1,000,000pulse/rev Detection method Tolerable rotation speed at power off

(Note) Detector output data

Power consumption Inertia Shaft friction torque Shaft angle acceleration Tolerable continuous rotation speed

Shaft amplitude (position 15mm from end) Tolerable load

(thrust direction/radial direction) Weight Protective structure

IP65（The shaft-through portion is excluded.）

Recomended coupling

Ambient temperature

Storage temperature

Humidity

Vibration resistance

5 to 50Hz, total vibration width 1.5mm, each shaft for 30min.

Impact resistance

(2) Outline dimension drawings

• OSA105-ET2

OSA105-ET2

Absolute position method

(battery backup method)

500r/min

Serial data

0.3A

or less

kgm

0.5x10

0.1Nm or less

or less

rad/s

4×10

4000r/min

0.02mm or less

9.8N･m/19.8N･m

0.6kg

bellows coupling

0℃～+55℃

-20℃～+85℃ 95%Ph

(50G)

490m/s

8.72

Unit [mm]

Ø100

CM10-R10P

60.2

Ø80

51.8

4-Ø5.5

45°

4 - 7

8.72

Cross section A-A

-0.020

φ75

(scale 2:1)

(3) Explanation of connectors

4. Dedicated Options

1 2

4 5 7 6

Connector pin layout

Pin Function Pin Function

1 RQ 6 SD 2 RQ* 7 SD* 3 - 8 P5(+5V) 4 BAT 9 5 LG(GND) 10 SHD

4 - 8

4. Dedicated Options

4-1-3 Machine side detector

The machine side detectors are all special order parts, and must be prepared by the user.

(1) Relative position detector

Depending on the output signal specifications, select a machine side relative position detector with which the following (a), (b) or (c) is applied.

(a) Serial signal type (serial conversion unit made by each manufacture )

The following serial conversion unit converts the detector output signal and transmits the signal to the drive unit in serial communication. For details on the specifications of each conversion unit scale and for purchase, contact each corresponding manufacture directly.

< Serial conversion unit for linear scale >

Maximum

Type Manufacturer

MJ831 SONY 140kHz 4000 SH13 168m/min 5nm

APE391M A0 HEIDENHAIN 400kHz 4096 LS186/LS486 480m/min 5nm

input

frequency

Division

number

Scale can be

combined

Combination

maximum

speed (Note1)

Combination

resolution

(Note2)

Serial conversion unit for rotary encoder >

Maximum

Type Manufacturer

APE391M C0

1024

APE391M C2

1200

APE391M C0

2048

(Note1) The combination of speed / rotation speed in the table depends on the following calculation formula.

For linear scale: Maximum speed (m/min) = scale analog signal cycle (m) x maximum input frequency (Hz) x 60 For rotary encoder: Maximum rotary speed (r/min) = maximum input frequency (Hz) / numbers of encoder scale (1/rev) x 60 An actual Maximum speed/ rotary speed is limited by the mechanical specifications and electrical specifications, etc. of the connected scale, so contact the manufacture of the purchased scale.

(Note2) The combination resolution in the table depends on the following calculation formula.

In use of linear scale: Minimum resolution (m) = Scale analog signal frequency (m) / division number In use of rotary encoder: Minimum resolution (pulse/rev) = numbers of encoder scale (1/rev) x division number

HEIDENHAIN 400kHz 4096

input

frequency

Division

number

Rotary encoder can

be combined

ERM 1024 23,437r/min

ERM 1200 20,000r/min

ERM 2048 11,718r/min

Combination

maximum

rotation

speed (Note1)

Combination

resolution

(Note2)

4,194,304

pulse/rev

4,915,200

pulse/rev

8,388,608

pulse/rev

CAUTION

The above value does not guarantee the accuracy of the system.

4 - 9

4. Dedicated Options

(b) SIN wave output (using MDS-B-HR)

When using a relative position detector that the signal is the SIN wave output, the detector output signal is converted in the detector conversion unit (MDS-B-HR), and then the signal is transmitted to the drive unit in the serial communication. Select a relative position detector with A/B phase SIN wave signal that satisfies the following conditions. For details on the specifications of MDS-B-HR, refer to the section “4-4-1”.

(Detector output signal)

• 2.5V reference 1Vp-p analog A-phase, B-phase, Z-phase differential output

• Output signal frequency 200kHz or less

Voltage [V]

2.5

A phase B phase

Time

A/B phase output signal waveform during forward run

• Combination speed / rotation speed In use of linear scale: Maximum speed (m/min) = scale analog signal frequency (m) x 200,000 x 60 In use of rotary encoder: Maximum rotation speed (r/min) = 200,000 / numbers of encoder scale (1/rev) x 60

An actual Maximum speed/ rotary speed is limited by the mechanical specifications and electrical specifications, etc. of the connected scale, so contact the manufacture of the purchased scale.

• Division number 512 divisions per 1 cycle of signal In use of linear scale: Minimum resolution (m) = scale analog signal frequency (m) / 512 In use of rotary encoder: Minimum resolution (pulse/rev) = numbers of encoder scale (1/rev) x 512

CAUTION

The above value does not guarantee the accuracy of the system.

4 - 10

4. Dedicated Options

Select a relative position detector with an A/B phase difference and Z-phase width at the maximum feedrate that satisfies the following conditions. Use an A, B, Z-phase signal type with differential output (RS-422 standard product) for the output signal.

utput circuit

, B, Z-phase

Phase difference

-phase

B-phase

0.1µs or more

Z-phase

For a scale having multiple Z phases, select the neighboring Z phases whose distance is an integral mm.

0.1µs or more

Integer mm

(Note) The above value is minimum value that can be received normally in the servo drive unit

side. In an actual selection, ensure margin of 20% or more in consideration of degradation of electrical wave and speed overshoot.

The example of using representative oblong save scale is shown below. For specifications of each conversion unit and scale and for purchase, Contact each corresponding manufacture directly.

Scale Type

SR33 CN33 SONY

LS186/LS486

Combination

conversion unit

IBV610

IBV650 0.1µm 48m/min

IBV660B

Manufacturer

HEIDENHAIN

Minimum

resolution

1µm 150m/min

0.5µm 120m/min

0.1µm 24m/min

0.05µm 12m/min 1µm 120m/min

0.5µm 120m/min

0.1µm 60m/min

0.05µm 30m/min

Maximum speed

4 - 11

4. Dedicated Options

(2) Absolute position detector

The applicable absolute position detectors are as follows.

< Linear scale >

Applicable absolute position detectors for the machine side

Type Manufacturer Maximum feedrate Detector output Detector resolution

AT342 110m/min AT343 120m/min AT543 LC191M

LC491M

Mitutoyo

HEIDENHAIN

120m/min 120m/min 120m/min

< Rotary encoder >

Applicable absolute position detectors for the machine side

Type Manufacturer Maximum feedrate Detector output Detector resolution

RCN723 300r/min RCN223

MPRZ series

＋ADB-20J71

HEIDENHAIN

MME Corp. 10000r/min

1500r/min

Confirm each manufacturer specifications before using the machine side

CAUTION

detector.

Serial data Serial data Serial data

Serial data Serial data

Serial data

0.5µm

0.05µm

0.1µm/ 0.05µm /0.01µm

0.05µm/ 0.01µm

8,000,000pulse/rev 8,000,000pulse/rev

8,000,000pulse/rev

4 - 12

4. Dedicated Options

4-2 Spindle options

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

(a) No-variable speed control

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

Spindle control

item

Spindle control

Orientation control

Synchronous tap control

Spindle synchronous control

C-axis control C-axis control (Note) { : Control possible

× : Control not possible

Control specifications

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

(b) Variable speed control

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

Spindle control

item

Spindle control

Orientation control

Synchronous tap control

Spindle synchronous control

C-axis control C-axis control (Note) { : Control possible

× : Control not possible

U : Control not possible when using V-belt S : Control not possible when varying the speed with a method other than the gears (when using V-belt or timing belt).

: Control not possible when using V-belt, or control not possible for the RFH-1024-22-1M-68(-8) detector

Control specifications

Without spindle

side detector

{ { { { { { { { { { {

Without spindle

side detector

{ {

× × × ×

× ×

With spindle side

detector

This normally is not used for no-variable speed control.

With spindle side

detector

{ { { { { { { { {

4 - 13

4. Dedicated Options

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

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

(1) Specifications

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

Mechanical characteristics for rotation

Mechanical configuration

Working environment

(2) Detection signals

Signal name Number of detection pulses

Pin Function Pin Function

A A phase K 0V B Z phase L C B phase M D - N A phase E Case earth P Z phase F - R B phase G - S H +5V T -

J -

Inertia Shaft friction torque 0.98Nm or less 0.98Nm or less Shaft angle acceleration 104 rad/s2 or less 104 rad/s2 or less

Tolerable continuous rotation speed 6000 r/min 8000 r/min Bearing maximum non-lubrication

time Shaft amplitude

(position 15mm from end) Tolerable load

(thrust direction/radial direction) Weight 1.5kg 1.5kg Squareness of flange to shaft 0.05mm or less Flange matching eccentricity 0.05mm or less Ambient temperature range –5°C to +55°C Storage temperature range –20°C to +85°C Humidity 95%Ph Vibration resistance 5 to 50Hz, total vibration width 1.5mm, each shaft for 30min. Impact resistance 294.20m/s

A, B phase 1024p/rev

Z phase 1p/rev

Half of value during operation

Connector pin layout

-4

0.1 × 10

kgm2 or less 0.1 × 10-4kgm2 or less

20000h/6000r/min 20000h/8000r/min

0.02mm or less 0.02mm or less 10kg/20kg

Half of value during operation

10kg/20kg

(30G)

4 - 14

(3) Outline dimension drawings

102 33

4. Dedicated Options

Ø68

MS3102A20-29P

Ø50

4- Ø5.4 hole

3 2

-0.11

-0.006

1.15

-0.017

+0.14

-0.009

-0.025

Ø14.3

+0.012

Shaft section

+0.05

Key way magnified figure

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

4 - 15

[Unit: mm]

4. Dedicated Options

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

Highly accurate C axis control is possible by connecting HEIDENHAIN incorporable rotary encoder ERM280 series. ERM280 series encoder provides with high environmental resistance due to the magnetic memory drum. The spindle motor to be incorporated with is a built-in type, so the motor specifications must be considered, as well. Note that HEIDENHAIN serial interface unit APE391M must be purchased as it is required for connecting ERM280 series to the MDS-D-SPJ3 drive unit.

Incorporable rotary encoder Serial interface conversion unit

ERM280 series APE391M series

(1) Procurement

ERM280 series and APE391M series must be purchased directly from HEIDENHAIN.

Contact: HEIDENHAIN CORPORATION http://www.heidenhain.co.jp/

(2) System overview

CN2

CN3

Serial communication

detector cable

(Prepared by the user.)

Serial interface conversion unit

APE391M series

(Prepared by the user.)

4 - 16

Spindle motor

Incorporable rotary

encoder

ERM280 series

4. Dedicated Options

(3) Specifications

Type (Note 2) ERM280 1024 ERM280 1200 ERM280 2048

Serial interface

unit type Electrical characteristics

Mechanical characteristics

Use environment Drum section

Supply voltage ERM280 5V±10％

APE391M 5V±5％ Number of scale marks 1024 1200 2048 Electrical tolerable rotation speed Combined resolution (Note 3) (Parameter setting value) Drum inner diameter 80mm 120mm 180mm Drum outer diameter 128.75mm 150.88mm 257.5mm Mechanical tolerable rotation speed Moment of inertia of rotary 2.7 x 10 Temperature range -10 to 100 °C Dust/water proof structure (IEC60529) Weight Drum section 0.89kg 0.72kg 3.0kg Scanning head 0.15kg

APE391M C2 1024 APE391M C0 1200 APE391M C2 2048

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

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

22000r/min 18000r/min 10000r/min

-3

kg･m2 3.5 x 10-3kg･m2 38×10-3kg･m2

IP67

(Note 1) Specifications are subject to change. Confirm the details with HEIDENHAIN. (Note 2) The above specifications are for some of the popular products of HEIDENHAIN.

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

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

4 - 17

4. Dedicated Options

4-3 Regenerative option

Confirm the regeneration resistor capacity and possibility of connecting with the drive unit. Refer to "Appendix 3-2 Selecting the regenerative resistor" for details on selecting an regenerative resistor. The regenerative resistor generates heats, so wire and install the unit while taking care to safety. When using the regenerative resistor, make sure that flammable matters, such as cables, do not contact the resistor, and provide a cover on the machine so that dust or oil does not accumulate on the resistor and ignite.

(1) Combination with servo drive unit

External option regenerative resistor

GZG200W

120OHMK

x 3 units

○ ○ ○

External option regenerative resistor

○

GZG200W39

OHMK

x 3 units

○

GZG300W39

OHMK

x 3 units

○

GZG200W20

OHMK

x 3 units

○ ○

GZG300W20

OHMK

x 3 units

○ ○

FCUA-RB75/2

2 units

○ ○

Corresponding

servo drive unit

MDS-D-SVJ3-03 MDS-D-SVJ3-04 MDS-D-SVJ3-07 MDS-D-SVJ3-10 MDS-D-SVJ3-20 MDS-D-SVJ3-35

Standard built-in

regenerative

resistor

Regenerative

capacity

Resistance

value

10W 10W

20W 100W 100W 100W

100Ω 100Ω

40Ω 13Ω

9Ω 9Ω

MR-RB032 MR-RB12 MR-RB32 MR-RB30 MR-RB50 MR-RB31 MR-RB51

30W 100W 300W 300W 500W 300W 500W

40Ω 40Ω 40Ω 13Ω 13Ω 6.7Ω 6.7Ω

○ ○ ○

Standard built-in

regenerative

Corresponding

servo drive unit

MDS-D-SVJ3-03 MDS-D-SVJ3-04 MDS-D-SVJ3-07 MDS-D-SVJ3-10 MDS-D-SVJ3-20 MDS-D-SVJ3-35

The power value in the table is a regenerative power by the resistor, not a rated power.

resistor

Regenerative

capacity

Resistance

10W

20W 100W 100W 100W

value

40Ω 40Ω 40Ω 13Ω

9Ω 9Ω

FCUA-RB22 FCUA-RB37 FCUA-RB55 R-UNIT2

155W 185W 340W 700W 680W

40Ω 25Ω 20Ω 15Ω 15Ω

○

○ ○

4 - 18

4. Dedicated Options

(2) Combination with spindle drive unit

The regenerative resistor is not incorporated in the spindle drive unit. Make sure to install the regenerative resistor.

Standard built-in

Corresponding

spindle drive unit

MDS-D-SPJ3-075

MDS-D-SPJ3-22 MDS-D-SPJ3-37 MDS-D-SPJ3-55 MDS-D-SPJ3-75

MDS-D-SPJ3-110

regenerative

resistor

Regenerative

capacity

Resistance

value

- -

FCUA-RB

60W 80W 120W 155W 185W 340W 340W

200Ω 100Ω 60Ω 40Ω 25Ω 20Ω 30Ω

○ ○ ○ ○

FCUA-RB

○ ○ ○ ○

○ ○ ○

○

Standard built-in

Corresponding

spindle drive unit

MDS-D-SPJ3-075

MDS-D-SPJ3-22 MDS-D-SPJ3-37 MDS-D-SPJ3-55 MDS-D-SPJ3-75

MDS-D-SPJ3-110

regenerative

resistor

Regenerative

capacity

Resistance

value

- -

- - ○

- - ○ ○ ○

- - ○ ○

R-UNIT1 R-UNIT2 R-UNIT3 R-UNIT4 R-UNIT5

700W 700W 2100W 2100W 3100W 680W

30Ω 15Ω 15Ω 10Ω 10Ω 15Ω

Standard built-in

regenerative

Corresponding

spindle drive unit

MDS-D-SPJ3-075

MDS-D-SPJ3-22 MDS-D-SPJ3-37 MDS-D-SPJ3-55 MDS-D-SPJ3-75

MDS-D-SPJ3-110

The power value in the table is a regenerative power by the resistor, not a rated power.

resistor

Regenerative

capacity

Resistance

value

- - ○ ○

- -

MR-RB032 MR-RB12 MR-RB32 MR-RB30 MR-RB50

30W 100W 300W 300W 500W

40Ω 40Ω 40Ω 13Ω 13Ω

External option regenerative resistor

075

FCUA-RB

External option regenerative resistor

FCUA-RB

GZG200W120

OHMK

x 3 units

Only the designated combination can be used for the regenerative option and

CAUTION

drive unit. There is a risk of fire, so always use the designated combination.

FCUA-RB

GZG200W39

OHMK

x 3 units

FCUA-RB

FCUA

-RB75/2 1 unit

FCUA

-RB75/2 2 units

GZG300W39

OHMK

x 3 units

4 - 19

4. Dedicated Options

4-4 Detector interface unit

4-4-1 MDS-B-HR

This unit superimposes the scale analog output raw waves, and generates high resolution position data. Increasing the detector resolution is effective for the servo high-gain. MDS-B-HR-12(P) is used for the synchronous control system that 1-scale 2-drive operation is possible.

< Type configuration >

< Specifications >

Type MDS-B-HR- 11 12 11P 12P

Compatible scale (example) LS186 / LS486 (HEIDENHAIN) Signal 2-division function Analog signal input specifications A-phase, B-phase, Z-phase (2.5V reference Amplitude 1V

Compatible frequency Analog raw waveform max. 200kHz Scale resolution Analog raw waveform/512 division Input/output communication style High-speed serial communication I/F, RS485 or equivalent Working ambient temperature 0 to 55°C Working ambient humidity 90%RH or less (with no dew condensation) Atmosphere No toxic gases Tolerable vibration 98.0 m/s Tolerable impact 294.0 m/s Tolerable power voltage Maximum heating value 2W Weight 0.5kg or less Protective structure IP65 IP67

MDS-B-HR-

(1) (2)

(2) Protective structure

None IP65 P IP67

(1) Signal division function class

11 Output number 1 12 Output number 2 (with division)

Symbol

Protective structure

Scale output voltage class

{

5VDC±5%

(10G)

(30G)

P-P

{

)

4 - 20

< Outline dimension drawings >

• MDS-B-HR

6.5 5

4. Dedicated Options

152

46 6.5

RM15WTR-10S

RM15WTR-8Px2

CON1CON2

165

CON3 CON4

Ø5 hole RM15WTR-12S

< Explanation of connectors >

Connector name Application Remarks

CON1 For connection with servo drive unit (2nd system) Not provided for 1-part system specifications CON2 For connection with servo drive unit CON3 For connection with scale

CON4

For connection with pole detection unit (MDS-B-MD)

*Used for linear servo system

Connector pin layout

CON1 CON2 CON3 CON4

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

1 RQ+ signal 1 RQ+ signal 1 A+ phase signal 1 A phase signal 2 RQ- signal 2 RQ- signal 2 A- phase signal 2 REF signal 3 SD+ signal 3 SD+ signal 3 B+ phase signal 3 B phase signal 4 SD- signal 4 SD- signal 4 B- phase signal 4 REF signal 5 P5 5 P5 5 Z+ phase signal 5 P24 6 P5 6 P5 6 Z- phase signal 6 MOH signal 7 GND 7 GND 7 - 7 P5 8 GND 8 GND 8 - 8 P5

9 - 9 TH signal 10 - 10 GND 11 P5 12 GND

Connector Type

CON1 CON2

CON3

CON4

RM15WTR- 8P

(Hirose Electric) RM15WTR-12S

(Hirose Electric) RM15WTR-10S

(Hirose Electric)

CON1 CON2

1 9

5 4

CON3 CON4

7 8 9 6

Unit [mm]

2 3

4 - 21

4. Dedicated Options

4-4-2 APE391M

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

Manufacture HEIDENHAIN

Compatible scale LS186/LS486 etc. ERM280 1024 ERM280 1200 ERM280 2048 Analog signal input specification Compatible frequency Analog raw waveform max.400kHz Scale resolution Analog raw waveform/ 4096 division Input/output communication style Working ambient temperature 0 to 70℃ Atmosphere No toxic gases Tolerable vibration 100 m/s2 Tolerable impact 200 m/s2 Tolerable power voltage 5VDC±5% Weight Protective structure

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

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

140g IP50

P-P

)

Input side

Output side

< Explanation of connectors >

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

1 2 3 4 5 6 78

9 10 11 12 13 14 15

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

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

2 0V U 10 0V sensor 2 0V Un 10 0V sensor 3

4 5V Up 12 5V sensor 4 5V Up 12 5V sensor 5 - 13 - 5 SD+ signal 13 SD- signal 6 - 14

7 R- phase

8 - 8 RQ+ signal

A+ phase

signal

B+ phase

signal

11 B- phase

15 - 7

(Note) Usually not used. For details, contact the corresponding manufacture.

A- phase

R+ phase

signal

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

3 B+ phase

6 - 14

A+ phase

signal

(Note)

signal (Note)

R- phase

signal (Note)

A- phase signal

11 A- phase signal

R+ phase

signal

15 RQ- signal

(Note)

4 - 22

4. Dedicated Options

4-4-3 MJ831

Type MJ831

Manufacture SONY

Compatible scale SH13 Analog signal input specification A phase, B phase, Z phase (2.5V reference Amplitude 1V Compatible frequency Analog raw waveform max.140kHz

Divide analog raw waveform as below.

Scale resolution

Input/output communication style High-speed serial communication I/F, RS485 or equivalent Working ambient temperature 0 to 55℃ Atmosphere No toxic gases Tolerable vibration 100 m/s2 Tolerable impact 200 m/s2 Tolerable power voltage DC11V to 32V Weight 140g Protective structure IP50

4000 / 3200 / 2000 / 1600 / 1000 / 800 / 500 / 480

/ 400 / 240 / 200 / 160 / 120 / 100 / 80 / 40

P-P

)

< Explanation of connectors >

Detector connector side

connector

Detector connector sid connector

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

1 V-OUT 1 +V 1 SD+signal 8 2 0V 2 0V 2 SD- signal 9 3 +SIN 3 - 10 4 -SIN 4 RQ+ signal 11 0V 5 +COS 5 RQ- signal 12 0V 6 -COS 6 - 13 7 -Z 7 SHD 14 8 +Z

For details, contact the corresponding manufacture.

Power connector Drive unit connection side connector

Polarity label

Power connector

Drive unit connection side connector

4 - 23

4. Dedicated Options

4-5 Cables and connectors

4-5-1 Cable connection diagram

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

L11 L21

Servo drive unit (MDS-D-SVJ3)

(5)

L1 L2 L3

CNP1

P C

CNP2

CNP3

(1) From NC

CN1A

CN1B CN2 CN3

Spindle drive unit

(MDS-D-SPJ3)

(5)

L1 L2 L3

CNP1

L11 L21

CNP2

U V

CNP3

(1) Optical communication

cable

CN1A

CN2 CN3

Spindle side detector

(6) Spindle detector cable

(6) Spindle detector cable

(2) Servo detector cable

<MDS-B-HR unit cabl e>

Servo detector cable <Cable for linear scale> (This cable must be prepared by the user.)

(2) Servo detector cable

(2) Servo detector cable

Detector conversion unit

4 - 24

(MDS-B-HR)

Servo detector cable <Linear scale cable for MDS-B-HR> (This cable must be prepared by the user.)

Ball screw side detector

(3) Brake connecto r

Spindle motor

(Note) The linear scale must

be prepared by the user.

(4) Power

connector

Servo motor

4. Dedicated Options

4-5-2 List of cables and connectors

(1) Optical communication cable

Item Model Contents

For CN1A/ CN1B

0.3,3,0.5,5m1, 2,

For CN1A/ CN1B

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

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

G396-L□.□M

G380-L□□M

15,7,20m

: Length

10, 13,

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

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

(Note1) For details on the optical communication cable, refer to the section “4-5-3 optical communication cable specification” (Note2) For details on the optical communication cable for wiring between NC and drive unit, refer to the instruction manual for NC

controller.

(2) Servo detector cable and connector

Item Model Contents

For CN2/3

For servomotor detector / Ball screw side detector

CN3 MDS-B-HR unit cable CNV2E-HP- M

For MDS-BHR unit

For CN2/3

Motor side detector cable / Ball screw side detector cable

Motor side detector connector / Ball screw side detector connector

MDS-B-HR connector CNEHRS (10) MDS-B-HR unit side connector

Servo detector connector CNU2S (AWG18) Servo drive unit side connector

CNV2E-8P- M

: Length

10,

30m

25,

CNV2E-9P- M

: Length

10,

30m

25,

CNE10-R10S (9) Servomotor detector/

Applicable cable outline

ø6.0 to 9.0mm CNE10-R10L (9) Servomotor detector/

Applicable cable outline

ø6.0 to 9.0mm

: Length

10,

30m

25,

Applicable cable outline

ø8.5 to 11mm

15,5,20,

Servo drive unit side connector (3M) Receptacle Shell kit

(Hirose Electric) Plug

Clamp : RM15WTP-CP (10)

: 36210-0100JL

: 36310-3200-008

: 36210-0100JL

: 36310-3200-008

: 36210-0100JL

: 36310-3200-008

: RM15WTP-8S (for CON1, 2)

RM15WTP-12P (for CON3)

(3M) Receptacle Shell kit

: 36210-0100JL

: 36310-3200-008

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

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

Servomotor detector/ Ball screw side detector side connector (DDK) Plug

: CM10-SP10S-M

Contact

: CM10-#22SC

Servomotor detector/ Ball screw side detector side connector (DDK) Plug

: CM10-AP10S-M

Contact

: CM10-#22SC

Ball screw side detector side connector (DDK) Plug

: CM10-SP10S-M

Contact

: CM10-#22SC

Ball screw side detector side connector (DDK) Plug

: CM10-AP10S-M

Contact

: CM10-#22SC

MDS-B-HR unit side connector (Hirose Electric) Plug

: RM15WTP-8S

Clamp

: RM15WTP-CP (10)

4 - 25

4. Dedicated Options

(3) Brake connector

Item Model Contents

For motor brake

CNB10-R2L (6) Servomotor side brake

Brake connector for HF,HP CNB10-R2S (6) Servomotor side brake

Applicable cable outline

ø4.0 to 6.0mm

Applicable cable outline

ø4.0 to 6.0mm

connector (DDK)

: CM10-SP2S-S

Plug

: CM10-#22SC-S2

Contact

connector (DDK) Plug

: CM10-AP2S-S

Contact

: CM10-#22SC-S2

(4) Power connector

Item Model Contents

For motor power

CNP18-10L (14) Servomotor side power

Power connector for

CNP22-22L (16) Servomotor side power

Power connector for HF54, 104, 154

HF204, 354

CNP18-10S (14) Servomotor side power

Applicable cable outline

ø10.5 to 14mm

Applicable cable outline

ø10.5 to 14mm

CNP22-22S (16) Servomotor side power

Applicable cable outline

ø12.5 to 16mm

Applicable cable outline

ø12.5 to 16mm

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

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

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

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

4 - 26

(5) Drive unit side main circuit connector

Item Model Contents

For drive unit

For MDS-D-SVJ3-03,04,07 For MDS-D-SPJ3-075

For MDS-D-SVJ3-10,20,35 For MDS-D-SPJ3-22,37

4. Dedicated Options

These connectors are supplied for each drive unit.

Applicable cable size:

to 2.5mm2

0.14mm Cable finish outside

diameter: to φ3.8mm

These connectors are supplied for each drive unit.

Applicable cable size:

0.2mm

to 5.5mm

Cable finish outside diameter :

to φ5.0mm

For CNP1 (For power supply) 54928-0670 (Molex)

For CNP2 (For control power) 54927-0520 (Molex)

For CNP3 (For motor power) 54928-0370 (Molex)

Connection lever 54932-0000 (Molex)

For CNP1 (For power supply) PC4/6-STF-7.62-CRWH (Phoenix contact)

For CNP2 (For control power) 54927-0520 (Molex)

4 - 27

For CNP3 (For motor power) PC4/3-STF-7.62-CRWH (Phoenix contact)

Connection lever 54932-0000 (Molex)

4. Dedicated Options

(6) Spindle detector cable and connector

Item Model Contents

For CN2 Motor side PLG cable

For CN3 Spindle side detector cable CNP3EZ-2P- M

CNP3EZ-3P-□M

For spindle motor

Motor side PLG connector

CNP2E-1- M

: Length

10,

25,

30m

: Length

10,

30m

25,

: Length

10,

30m

25,

CNEPGS Spindle motor side connector

15,5,20,

Spindle drive unit side connector (3M) Receptacle Shell kit

: 36210-0100JL

: 36310-3200-008

Spindle drive unit side connector (3M) Receptacle Shell kit

: 36210-0100JL

: 36310-3200-008

Spindle drive unit side connector (3M) Receptacle Shell kit

: 36210-0100JL

: 36310-3200-008

Spindle motor side connector

(Tyco Electronics AMP) Connector Contact: 170363-1(AWG26-22) 170364-1(AWG22-18)

Connector MS3106A20-29S(D190) Straight back shell : CE02-20BS-S Clamp

(Tyco Electronics AMP) Connector Contact: 170363-1(AWG26-22) 170364-1(AWG22-18)

: 172169-1

Spindle motor side connector (DDK)

: CE3057-12A-3

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

: CE3057-12A-3

: 172169-1

For spindle motor

For CN2/3

Spindle side detector cable

Applicable cable outline ø6.8 to 10mm

Applicable cable outline

Spindle detector connector CNU2S (AWG18) Spindle drive unit side

ø6.8 to 10mm

Spindle motor side connector

(DDK) Connector MS3106A20-29S(D190) Straight back shell : CE02-20BS-S Clamp

: CE3057-12A-3

Spindle motor side connector

(DDK)

Connector

MS3106A20-29S(D190)

Angle back shell :

CE-20BA-S Clamp

: CE3057-12A-3

connector (3M) Receptacle Shell kit

: 36210-0100JL

: 36310-3200-008

4 - 28

(

) (

)

4. Dedicated Options

4-5-3 Optical communication cable specifications

(1) Specifications

Cable model

Specification application Cable length

Optical communication cable

Minimum bend radius

Tension strength

Temperature range for use (Note1)

Ambient

G396-L□.□M G380-L□□M

For wiring inside panel

0.3, 0.5, 1.0, 2.0, 3.0, 5.0m 5.0, 7.0, 10, 13, 15, 20m 25mm

140N

-40 to 85°C -20 to 70°C

Indoors (no direct sunlight)

For wiring outside panel

For long distance wirning

Enforced covering cable: 50mm

cord: 30mm

980N

(Enforced covering cable)

No solvent or oil

2.2±0.07

Cable appearance

4.4±0.4

2.2±0.2

[mm]

4.4±0.1

7.6±0.5

Protection tube

20.9

Connector appearance [mm]

2.3

(13.4)(15)(6.7)

37.65

1.7

8.5 20.3

22.7

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

as that for drive unit.

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

4 - 29

4. Dedicated Options

(2) Cautions for using optical communication cable

Optical communication cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for G396-L□. □M is made of synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not make it touched the part, which becomes high temperature, such as radiator or regenerative brake option of drive unit. Read described item in this section carefully and handle it with caution.

(a) Minimum bend radius

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

(b) Bundle fixing

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

Minimum bend radius For wiring inside pane l: 25mm

wall

For wiring outside panel: 50mm

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

4 - 30

4. Dedicated Options

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

(d) Lateral pressure

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

(e) Twisting

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

(f) Cable selection

• When wiring is outside the power distribution panel or machine cabinet, there is a highly possibility that external power is added. Therefore, make sure to use the cable for wiring outside panel (G380-L□□M)

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

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

panel.

(g) Method to lay cable

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

(h) Protection in unuse

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

(i) Attaching /Detaching optical communication cable connector

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

(j) Cleaning

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

(k) Disposal

4 - 31

4. Dedicated Options

(l) Return in troubles

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

4 - 32

5. Selection of Peripheral Devices

5-1 Selection of wire................................................................................................................................. 5-2

5-1-1 Example of wires by unit .............................................................................................................5-2

5-2 Selection of no-fuse breaker and contactor ....................................................................................... 5-4

5-2-1 Selection of no-fuse breaker .......................................................................................................5-4

5-2-2 Selection of contactor..................................................................................................................5-5

5-3 Selection of earth leakage breaker ....................................................................................................5-6

5-4 Branch-circuit protection (for control power supply)........................................................................... 5-7

5-4-1 Circuit protector...........................................................................................................................5-7

5-4-2 Fuse protection............................................................................................................................5-7

5-5 Noise filter ..........................................................................................................................................5-8

5-6 Surge absorber................................................................................................................................... 5-9

5-7 Relay ................................................................................................................................................ 5-10

5 - 1

5. Selection of Peripheral Devices

5-1 Selection of wire

5-1-1 Example of wires by unit

Selected wires must be able to tolerate rated current of the unit’s terminal to which the wire is connected. How to calculate tolerable current of an insulated wire or cable is shown in “Tol erable current of electri c cable” (1) of Japanese Cable Makers’ Association Standard (JCS)-168-E (1995), its electric equipment technical standards or JEAC regulates tolerable current, etc. wire. When exporting wires, select them according to the related standards of the country or area to export. In the UL standards, certification con dition s are to use wires of 60 Wire’s tolerable current is different depending on conditions such as its material, structure, ambient temperature, etc. Check the tolerable current described in the specification of the wire to use. Example of wire selections according to each standard is as follows.

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

C product

(Example according to IEC/EN60204-1, UL508C)

Unit type

Spindle drive unit

Servo drive unit

Terminal

name

MDS-D-SPJ3-075 2 14 2 14 MDS-D-SPJ3-22 2 14 2 14 MDS-D-SPJ3-37 2 14 3.5 12 MDS-D-SPJ3-55 3.5 12 3.5 12 MDS-D-SPJ3-75 5.5 10 5.5 10 MDS-D-SPJ3-110 14 6 MDS-D-SVJ3-03 2 14 2 14 MDS-D-SVJ3-04 2 14 2 14 MDS-D-SVJ3-07 2 14 2 14 MDS-D-SVJ3-10 2 14 2 14 MDS-D-SVJ3-20 2 14 3.5 12 MDS-D-SVJ3-35 3.5 12

CNP1 (L1, L2, L3, ) mm2 AWG mm2 AWG mm2 AWG mm2 AWG mm2AWG

CNP2

(L11, L21)

2 14

(2) 600V double (heat proof) vinyl insulated wire (HIV wire) 75

(Example according to IEC/EN60204-1, UL508C)

Unit type

Spindle drive unit

Servo drive unit

Terminal

name

MDS-D-SPJ3-075 2 14 2 14 MDS-D-SPJ3-22 2 14 2 14 MDS-D-SPJ3-37 2 14 3.5 12 MDS-D-SPJ3-55 3.5 12 3.5 12 MDS-D-SPJ3-75 5.5 10 5.5 10 MDS-D-SPJ3-110 8 8 MDS-D-SVJ3-03 2 14 2 14 MDS-D-SVJ3-04 2 14 2 14 MDS-D-SVJ3-07 2 14 2 14 MDS-D-SVJ3-10 2 14 2 14 MDS-D-SVJ3-20 2 14 2 14 MDS-D-SVJ3-35 2 14

CNP1 (L1, L2, L3, ) mm2 AWG mm2 AWG mm2 AWG mm2 AWG mm2AWG

CNP2

(L11, L21)

2 14

C and 75 oC product. (UL508C)

CNP3

(U, V, W, )

8 8

5.5 10

C product

CNP3

(U, V, W, )

8 8

5.5 10

CNP2

(P,C)

2 14

3.5 12

2 14 2 14

CNP2

(P,C)

2 14

3.5 12

2 14 2 14

Magnetic

brake

- -

Magnetic

brake

- -

5 - 2

5. Selection of Peripheral Devices

(3) 600V bridge polyethylene insulated wire (IC) 105

(Example according to JEAC8001)

CNP1 (L1, L2, L3, ) mm2 AWG mm2 AWG mm2 AWG mm2 AWG mm2AWG

(L11, L21)

1.25 16

Unit type Spindle

drive unit

Servo drive unit

Terminal

name

MDS-D-SPJ3-075 2 14 2 14 MDS-D-SPJ3-22 2 14 2 14 MDS-D-SPJ3-37 2 14 2 14 MDS-D-SPJ3-55 2 14 3.5 12 MDS-D-SPJ3-75 3.5 12 5.5 10 MDS-D-SPJ3-110 5.5 10 MDS-D-SVJ3-03 2 14 2 14 MDS-D-SVJ3-04 2 14 2 14 MDS-D-SVJ3-07 2 14 2 14 MDS-D-SVJ3-10 2 14 2 14 MDS-D-SVJ3-20 2 14 2 14 MDS-D-SVJ3-35 2 14

1. Selection conditions follow IEC/EN60204-1, UL508C, JEAC8001.

• Ambient temperature is maximum 40°C.

• Cable installed on walls without ducts or conduits.

To use the wire under conditions other than above, check the standards you

CAUTION

are supposed to follow.

2. The maximum wiring length to the motor is 30m. If the wiring distance between the drive unit and motor is 20m or longer, use a thick wire so that the cable voltage drop is 2% or less.

3. Always wire the grounding wire.

CNP2

C product

CNP3

(U, V, W, )

5.5 10

3.5 12

CNP2

(P,C)

2 14

3.5 12

2 14 1.25 16

Magnetic

brake

- -

5 - 3

5. Selection of Peripheral Devices

5-2 Selection of no-fuse breaker and contactor

Always select the no-fuse breaker and contactor properly, and install them to each drive unit to prevent disasters.

5-2-1 Selection of no-fuse breaker

Calculate a breaker selection current from the rated output and th e nominal input voltage of the drive unit as in the expression below. And then select the minimum capacity no-fuse breaker whose rated current meets the breaker selection current.

Breaker selection current [A] =

Unit type

Rated output Breaker selection

current Recommended breaker (Mitsubishi Electric Corp.: option part) Rated current of the recommended breaker

Unit type

Rated output Breaker selection

current Recommended breaker (Mitsubishi Electric Corp.: option part) Rated current of the recommended breaker

Option part: A breaker is not prepared as an NC unit accessory, so purchase the part from your dealer, etc.

03 04 07 10 20 35

0.3kW 0.4kW 0.75kW 1.0kW 2.0kW 3.5kW

2.5A 5A 7A 8A 10A 15A

NF30-

SW3P-5A

5A 10A 15A 15A 20A 30A

075 22 37 55 75 110

0.75kW 2.2kW 3.7kW 5.5kW 7.5kW 11kW 6A 9A 15A 23A 31A 45A

NF30-

SW3P-15A

15A 20A 30A 50A 60A 100A

No-fuse breaker selection current for 200V input [A]

Nominal input voltage [V]

Selection of no-fuse breaker for 200V input [A]

NF30-

SW3P-10A

NF30-

SW3P-20A

MDS-D-SVJ3-

NF30-

SW3P-15A

MDS-D-SPJ3-

NF30-

SW3P-30A

NF30-

SW3P-15A

NF50-

CW3P-50A

NF30-

SW3P-20A

NF100-

CW3P-60A

× 200 [V]

NF30-

SW3P-30A

NF100-

CW3P-100A

1. It is dangerous to share a no-fuse breaker for multiple drive units, so do not share it. Always install the breakers for each drive unit.

CAUTION

2. If the control power (L11, L21) must be protected, select according to the section "5-4-1 Circuit protector ".

5 - 4

5. Selection of Peripheral Devices

5-2-2 Selection of contactor

Select the contactor selection current that is calculated from the rated output and the nominal input voltage of the drive unit as in the expression below. And then select the contactor whose conventional free-air thermal current meets the contactor selection current.

Contactor selection current [A] =

Contactor selection current for 200V input [A]

Nominal input voltage [V]

× 200 [V]

Unit type

Rated output Contactor selection

current Recommended contactor (Mitsubishi Electric Corp.: option part) Free-air thermal current of the recommended contactor

Unit type

Rated output Contactor selection

current Recommended contactor (Mitsubishi Electric Corp.: option part) Free-air thermal current of the recommended contactor

Option part: A breaker is not prepared as an NC unit accessory, so purchase the part from your dealer, etc.

03 04 07 10 20 35

0.3kW 0.4kW 0.75kW 1.0kW 2.0kW 3.5kW

2.5A 5A 7A 8A 10A 15A

S-N12

-AC200V

20A 20A 20A 20A 25A 32A

075 22 37 55 75 110

0.75kW 2.2kW 3.7kW 5.5kW 7.5kW 11kW 6A 9A 15A 23A 31A 45A

S-N12

-AC200V

20A 25A 32A 50A 50A 60A

Selection of contactor for 200V input [A]

MDS-D-SVJ3-

S-N12

-AC200V

S-N18

-AC200V

S-N12

-AC200V

MDS-D-SPJ3-

S-N20

-AC200V

S-N12

-AC200V

S-N25

-AC200V

S-N18

-AC200V

S-N25

-AC200V

S-N20

-AC200V

S-N35

-AC200V

POINT

Select a contactor whose excitation coil does not operate at 15mA or less.

5 - 5

5. Selection of Peripheral Devices

5-3 Selection of earth leakage breaker

When installing an earth leakage breaker, select the breaker on the following basis to prevent the breaker from malfunctioning by the higher frequency earth leakage current generated in the servo or spindle drive unit.

(1) Selection

Obtaining the earth leakage current for all drive units referring to the following table, select an earth leakage breaker within the “rated non-operation sensitivity current”. Usually use an earth leakage breaker for inverter products that function at a leakage current within the commercial frequency range (50 to 60Hz). If a product sensitive to higher frequencies is used, the breaker could malfunction at a level less than the maximum earth leakage current value.

Unit Earth leakage current Maximum earth leakage current

MDS-D-SPJ3-075 to 110 6mA 15mA MDS-D-SVJ3-03 to 35 1mA 2mA

(Note) Maximum earth leakage current: Value that considers wiring length and grounding, etc.

(Commercial frequency 50/60Hz)

Earth leakage current for each drive unit

(2) Measurement of earth leakage current

When actually measuring the earth leakage current, use a product that is not easily affected by the higher frequency earth leakage current. The measurement range should be 50 to 60Hz.

1. The earth leakage current tends to increase as the motor capacity increases.

2. A higher frequency earth leakage current will always be generated because the inverter circuit in the drive unit switches the transistor at high speed. Always

POINT

ground to reduce the higher frequency earth leakage curre nt as much as possible.

3. An earth leakage current containing higher frequency may reach approx. several hundreds of mA. According to IEC479-2, this level is not hazardous to the human body.

5 - 6

5. Selection of Peripheral Devices

5-4 Branch-circuit protection (for control power supply)

5-4-1 Circuit protector

This breaker is used to switch the control power and to provide overload and short-circuit protection. When connecting a circuit protector or breaker to the power input (TE3 terminals L11 and L21) for the control circuit, use a product that does not trip (incorrectly activate) by a rush current when the power is turned ON. A circuit protector with inertial delay and an operation delayed type breaker are available to prevent unnecessary tripping. Select the product to be used according to the machine specifications. The rush current and rush conductivity time differ according to the power impedance and power ON timing, so select a product that does not trip even under the conditions listed in the following table.

Rush current: Ip = 30A

(per 1 unit)

POINT

36.8%

I [A]

Time constant: T = 9ms

Rush conductivity time:

Time to reach 36.8% of rush current Ip, equivalent to breaker operation characteristics operation time.

t [ms]

When collectively protecting the control circuit power for multiple units, select a circuit protector or breaker that satisfies the total sum of the rush current Ip. The largest value is used for the rush conductivity time T.

5-4-2 Fuse protection

The fuse of branch-circuit protection must use UL class CC, J or T. In the selection, please consider rush current and rush conductive time.

Selection of branch-circuit protection fuse

Connected total of unit

1 – 4 20 5 – 8

Rated [V] Current [A] AWG

Fuse (Class CC) Wire Size

600

16 to 14

For continued protection against risk of fire, replace only with same type 600

CAUTION

V, 20 or 35 A (UL CLASS CC) fuse.

5 - 7

5-5 Noise filter

(1) Selection

Use an EMC noise filter if the noise conducted to the power line must be reduced. Select an EMC noise filter taking the drive unit's input rated voltage and input rated current into consideration.

(2) Noise filter mounting position

Install the noise filter to the drive unit’s power input as the diagram below indicates.

Power distribu tion panel

Breaker

Power supply

5. Selection of Peripheral Devices

Noise filter

AC reactor

Contactor

R S

Drive unit

(Note) The noise filter must be prepared by the user.

Recommended devices: Densei-lambda MX13 Series Soshin Electric HF3000C-TM Series

Contact : Densei-lambda Co., Ltd. Telephone : 0120-507039 http://www.densei-lambda.com Soshin Electric Co., Ltd. Telephone :

03-3775-9112 (+81-3-3775-9112)

http://www.soshin.co.jp

(Note) The above devices may be changed at the manufacturer's discretion.

Contact each manufacturer for more information.

5 - 8

5. Selection of Peripheral Devices

5-6 Surge absorber

When controlling a magnetic brake of a servomotor in DC OFF circuit, a surge absorber must be installed to protect the relay contacts and brakes. Commonly a varistor is used.

(1) Selection of varistor

When a varistor is installed in parallel with the coil, the surge voltage can be adsorbed as heat to protect a circuit. Commonly a 120V product is applied. When the brake operation time is delayed, use a 220V product. Always confirm the operation with an actual machine.

(2) Specifications

Select a varistor with the following or equivalent specifications. To prevent short-circuiting, attach a flame resistant insulation tube, etc., onto the leads as shown in the following outline dimension drawing.

Varistor specifications

Varistor

voltage

Varistor type

ERZV10D121 TNR10V121K ERZV10D221 TNR10V221K

(Note 1) Selection condition: When ON/OFF frequency is 10 times/min or less, and exciting current is 2A or less (Note 2) ERZV10D121 and ERZV10D221 are manufactured by Matsushita Electric Industrial Co., Ltd.

TNR10V121K and TNR10V221K are manufactured by MARCON Electronics Co., Ltd.

Contact: Matsushita Electronic Components Co., Ltd : http://www.panasonic.co.jp/ maco/

rating

(range)

(V) AC（V） DC（V） 1 time 2 times

120

(108 to 132)

220

(198 to 242)

MARCON Electronics Co., Ltd. Telephone : (Kanto)03-3471-7041 (+81-3-3471-7041) (Kinki) 06-6364-2381 (+81-3-6364-2381) (Chubu) 052-581-2595 (+81-52-581-2595)

Tolerable circuit

voltage

75 100 3500 2500 20 14.5 0.4 200 1400

140 180 3500 2500 39 27.5 0.4 360 410

Surge current

withstand level

(A)

Rating

Energy

withstand level

(J)

/1000us

2ms （W）（V）（pF）

Power

voltage

(3) Outline dimension drawing

• ERZV10D121, ERZV10D221

11.5 [Unit: mm]

20.0

Insulation tube

Normally use a product with 120V varistor voltage. If there is no allowance for the

POINT

brake operation time, use the 220V product. A varistor whose voltage exceeds 220V cannot be used, as such varistor will exceed the specifications of the relay in the unit.

Max. limit

Electrostatic

capacity

(reference

value)

5 - 9

5. Selection of Peripheral Devices

5-7 Relay

Use the following relays for the input/output interface (motor brake output: MBR, contactor output: MC, near point dog : DOG external emergency stop : EMGX.)

Interface name Selection example

For digital input signal (DOG, EMGX) Use a minute signal relay (twin contact) to prevent a contact defect.

<Example> OMRON: G2A type, MY type

For digital output signal (MBR, MC) Use a compact relay with 24VDC, 40mA or less.

<Example> OMROM: MY type

5 - 10

Appendix 1. Outline Dimension Drawings

Appendix 1-1 Outline dimension drawings of servomotor....................................................................A1-2

Appendix 1-1-1 HF motor..................................................................................................................A1-2

Appendix 1-2 Outline dimension drawings of spindle motor ................................................................A1-7

Appendix 1-3 Outline dimension drawings of unit ..............................................................................A1-14

Appendix 1-3-1 Servo drive unit......................................................................................................A1-14

Appendix 1-3-2 Spindle drive unit...................................................................................................A1-18

Appendix 1-3-3 Regenerative resistor ............................................................................................A1-22

A1 - 1

per

Appendix 1. Outline Dimension Drawings

Appendix 1-1 Outline dimension drawings of servomotor

Appendix 1-1-1 HF motor

• HF75S-A48 • HF105S-A48

• HF75T-A48 • HF105T-A48

5.5

7.5 3 25

Ø14h6

[Unit: mm]

4-Ø6.6 mounting hole Use a hexagon socket bolt.

F90

45°

Ø118

Ø100

88.5

50.9

Detector connector

CM10-R10P

Power connector

CE05-2A18-10PD-B

Oil seal

Ø36

Ø80h7

5.3

A A

Ø14

8.9

Ø18

M8×1.0

screw

Oil seal

Plain washer 8

U nut M8×1.0

Ø36

Ø80h7

1/10

4-Ø6.6 mounting hole Use a hexagon socket bolt.

45°

Ø100

Ø118

88.5

-0.03

3.55

Cross section A-A

Servomotor type L KL

HF75F-A48 126.5 61 HF105F-A48 162.5 97

(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load. (Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.

A1 - 2

per

Appendix 1. Outline Dimension Drawings

• HF75BS-A48 • HF105BS-A48

• HF75BT-A48 • HF105BT-A48

[Unit: mm]

4-Ø6.6 mounting hole Use a hexagon

5.5

7.5 3 25

Ø14h6

socket bolt.

F90

45°

Ø118

Ø100

88.5

12.5

63.4

Detector connector CM10-R10P

50.9 13

Brake connector CM10-R2P

Power connector

CE05-2A18-10PD-B

Oil seal

Ø36

Ø80h7

5.3

A A

Ø14

8.9

Ø18

screw

M8×1.0

U nut M8×1.0

Oil seal

Plain washer 8

Ø36

Ø80h7

1/10

4-Ø6.6 mounting hole Use a hexagon socket bolt.

45°

Ø100

Ø118

88.5

-0.03

3.55

Cross section A-A

Servomotor type L KL

HF75B□-A48 167.5 61 HF105B□-A48 203.5 97

(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load. (Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.

A1 - 3

Appendix 1. Outline Dimension Drawings

• HF54S-A48 • HF104S-A48 • HF154S-A48

• HF54T-A48 • HF104T-A48 • HF154T-A48

38.2

12 3

Ø165

[Unit: mm]

4-Ø9 mounting hole Use a hexagon socket bolt.

F130

45°

Ø145

112.5

50.9

Detector connector CM10-R10P

Power connector

CE05-2A18-10PD-B

20.9

Ø24h6

Ø110h7

Oil seal

13.5

4-Ø9 mounting hole Use a hexagon socket bolt.

28 1218

A A

Ø110h7

Plain washer 10

Ø165

130

45°

Ø145

U nut M10×1.25 Tightening torque 23 to 30Nm

Ø16

Taper1/10

Oil seal

-0.03

M10×1.25 screw

Cross section A-A

Servomotor type L KL

HF54F-A48 118.5 57.8 HF104F-A48 140.5 79.8 HF154F-A48 162.5 101.8

(Note 1) Use a friction coupling (Spun ring, etc.) to connect with the load. (Note 2) Attach the cannon connector facing downward to improve the splash-proof performance.

A1 - 4

112.5

13.5 58

-0.03

4.3

Mitsubishi MDS-D-SV J3, MDS-D-SP J3 SPECIFICATIONS MANUAL

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Precautions for safety

CONTENTS

1. Introduction

1-1 Servo/spindle drive system configuration

1-1-1 System configuration

1-2 Explanation of type

1-2-1 Servomotor type

1-2-2 Servo drive unit type

1-2-3 Spindle motor type

1-2-4 Spindle drive unit type

2. Specifications

2-1 Servomotor

2-1-1 Specifications list

2-1-2 Torque characteristics

2-2 Spindle motor

2-2-1 Specifications

2-2-2 Output characteristics

2-3 Drive unit

2-3-1 Installation environment conditions

2-3-2 Servo drive unit

2-3-3 Spindle drive unit

2-3-4 D/A output specifications for servo drive unit

2-3-5 D/A output specifications for spindle drive unit

2-3-6 Explanation of each part

3. Characteristics

3-1 Servomotor

3-1-1 Environmental conditions

3-1-2 Quakeproof level

3-1-3 Shaft characteristics

3-1-4 Oil / water standards

3-1-5 Magnetic brake

3-1-6 Dynamic brake characteristics

3-2 Spindle motor

3-2-1 Environmental conditions

3-2-2 Shaft characteristics

3-3 Drive unit characteristics

3-3-1 Environmental conditions

3-3-2 Heating value

3-3-3 Overload protection characteristics

4. Dedicated Options

4-1 Servo options

4-1-1 Battery option (MR-J3BAT)

4-1-2 Ball screw side detector (OSA105-ET2)

4-1-3 Machine side detector

4-2 Spindle options

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

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

4-3 Regenerative option

4-4 Detector interface unit

4-4-1 MDS-B-HR

4-4-2 APE391M

4-4-3 MJ831

4-5 Cables and connectors

4-5-1 Cable connection diagram

4-5-2 List of cables and connectors

4-5-3 Optical communication cable specifications

5. Selection of Peripheral Devices

5-1 Selection of wire

5-1-1 Example of wires by unit

5-2 Selection of no-fuse breaker and contactor

5-2-1 Selection of no-fuse breaker

5-2-2 Selection of contactor

5-3 Selection of earth leakage breaker

5-4 Branch-circuit protection (for control power supply)

5-4-1 Circuit protector

5-4-2 Fuse protection

5-5 Noise filter

5-6 Surge absorber

5-7 Relay

Appendix 1. Outline Dimension Drawings

Appendix 1-1 Outline dimension drawings of servomotor

Appendix 1-1-1 HF motor