How it Works
Mitsubishi Electronics
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MDS-R
User Manual
362 pgs7.13 Mb0
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Mitsubishi Electronics MDS-R User 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 or the pen tip. Failure to observe this could lead to electric shocks.
Wait at least 15 minutes after turning the power OFF, confirm that the CHARGE lamp has gone out, and check the voltage between P and N terminals with a tester, etc., before starting wiring, maintenance or inspections. Failure to observe this could lead to electric shocks.
Ground the unit and motor following the standards set forth by each country. Wiring, maintenance and inspection work must be done by a qualified technician. Wire the servo drive unit and servomotor after installation. Failure to observe this could lead to
electric shocks. Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks. Do not damage, apply forcible stress, place heavy items on the cables or get them caught.
Failure to observe this could lead to electric shocks.
WARNING
2. Injury prevention
The linear servomotor uses a powerful magnet on the secondary side, and could adversely affect pacemakers, etc.
During installation and operation of the machine, do not place portable items that could malfunction or fail due to the influence of the linear servomotor's magnetic force.
Take special care not to pinch fingers, etc., when installing (and unpacking) the linea r 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 JISC68 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 circuit protector and contactor on the servo drive unit power input as explained in this manual. Refer to this manual and select the correct circuit protector and contactor. An incorrect selection could result in fire.
Shut off the power on the unit side if a fault occurs in the units. Fires could be caused if a large current continues to flow.
When using a regenerative resistor, provide a sequence that shuts off the power with the regenerative resistor's error signal. The regenerative resistor could abnormally overheat and cause a fire due to a fault in the regenerative transistor, etc.
The battery unit could heat up, ignite or rupture if submerged in water, or if the poles are incorrectly wired.
Cut off the main circuit power with the contactor when an alarm or emergency stop occurs.
2. Injury prevention
Do not apply a voltage other than that specified in this manual, on each terminal. Failure to observe this item could lead to ruptures or damage, etc.
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 circuit protector or contactor for each unit. Circuit protector or contactor cannot be shared by several units.
Always connect the motor to the drive unit's output terminals (U, V, W). Do not directly connect a commercial power supply to the servomotor. Failure to observe this
could result in a fault. When using an inductive load such as a relay, always connect a diode as a noise measure
parallel to the load. When using a capacitance load such as a lamp, always connect a protective resistor as a noise
measure serial to the load. Do not reverse the direction of a diode
which connect to a DC relay for the control output signals such as
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
Control output signal
RA
Control output signal
output, and emergency stop and other safety circuits are inoperable.
RA
Do not connect/disconnect the cables connected between the units while the power is ON. Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could
cause the cable to fall off while the power is ON. When using a shielded cable instructed in the instruction manual, always ground the cable with
a cable clamp, etc. Always separate the signals wires from the drive wire and power line. Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to
the system.
(3) Trial operation and adjustment
Check and adjust each program and parameter before starting operation. Failure to do so could lead to unforeseen operation of the machine.
Do not make remarkable adjustments and changes of parameter as the operation could become unstable.
The usable motor and unit combination is predetermined. Always check the models before starting trial operation.
If the axis is unbalanced due to gravity, etc., balance the axis using a counterbalance, etc. The linear servomotor does not have a stopping device such as magnetic brakes. Install a
stopping device on the machine side.
(4) Usage methods
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 circuit protector for the main circuit power supply is shared by several units, the circuit
protector may not activate when a short-circuit fault occurs in a small capacity unit. This is dangerous, so never share the circuit protector.
(5) Troubleshooting
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 inspections. The capacity of the electrolytic capacitor will drop over time due to self-discharging, etc. To
prevent secondary disasters due to failures, replacing this part every five years when used under a normal environment is recommended. Contact the Service Center, Service Station, Sales Office or delayer for repairs or part replacement.
Do not perform a megger test (insulation resistance measurement) during inspections. If the battery low warning is issued, back up the machining programs, tool data and
parameters with an input/output unit, and then replace the battery. Do not short circuit, charge, overheat, incinerate or disassemble the battery. The heat radiating fin used in some units contains substitute Freon as the refrigerant.Take
care not to damage the heat radiating fin during maintenance and replacement work.
(7) Disposal
Do not dispose of this type of unit as general industrial waste. Always contact the Service Center, Service Station, Sales Office or delayer for repairs or part replacement.
Do not disassemble the unit or motor.
Dispose of the battery according to local laws.
Always return the secondary side (magnet side) of the linear servomotor to the Service Center or Service Station.
When incinerating optical communication cable, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated. For disposal of optical communication cable, request for specialized industrial waste disposal services that has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas.
CAUTION
(8) Transportation
The unit and motor are precision parts and must be handled carefully. According to a United Nations Advisory, the battery unit and battery must be transported
according to the rules set forth by the International Civil Aviation Organization (ICAO), International Air Transportation Association (IATA), International Maritime Organization (IMO), and United States Department of Transportation (DOT), etc.
(9) General precautions The drawings given in this manual show the covers and safety partitions, etc., removed to provide a
clearer explanation. Always return the covers or partitions to their respective places before starting operation, and always follow the instructions given in this manual.
Treatment of waste 
The following two laws will apply when disposing of this product. Considerations must be made to each law. The following laws are in effect in Japan. Thus, when using this product overseas, the local laws will have a priority. If necessary, indicate or notify these laws to the final user of the product.
1. Requirements for "Law for Promotion of Effective Utilization of Resources"
(1) Recycle as much of this product as possible when finished with use. (2) When recycling, often parts are sorted into steel scraps and electric pa rts, 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 pro duct when no longer needed according to
item (1) above. The user should make an effort to reduce waste in this manner. (2) When disposing a product that cannot be resold, it shall be treated as a waste product. (3) The treatment of industrial waste must be commissioned to a licensed industrial wa ste treatment
contractor, and appropriate measures, including a manifest control, must be take n. (4) Batteries correspond to "primary batteries", and must be dispos ed of according to local disposal
laws.
本製品の取扱いについて
( 日本語 /Japanese) 本製品は工業用 ( クラス A) 電磁環境適合機器です。販売者あるいは使用者はこの点に注意し、住商業環境以外で の使用をお願いいたします。
Handling of our product
(English) This is a class A product. In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures.
본 제품의 취급에 대해서
( 한국어 /Korean) 이 기기는 업무용 (A 급 ) 전자파적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며 가정외의 지역에 서 사용하는 것을 목적으로 합니다 .

CONTENTS

1. Introduction
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
2. Specifications
2-1 Servomotor ..............................................................................................................................................2-2
2-1-1 Specifications list .......................................................................................................................2-2
2-1-2 Torque characteristics................................................................................................................2-3
2-1-3 Outline dimension drawings.......................................................................................................2-4
2-2 Servo drive unit......................................................................................................................................2-49
2-2-1 Installation environment conditions..........................................................................................2-49
2-2-2 Specifications list .....................................................................................................................2-49
2-2-3 Outline dimension drawings.....................................................................................................2-50
2-2-4 Explanation of each part.......................................................................................................... 2-54
3. Characteristics
3-1 Drive unit characteristics .........................................................................................................................3-2
3-1-1 Heating value............................................................................................................................. 3-2
3-1-2 Overload protection characteristics...........................................................................................3-3
3-2 Servomotor ..............................................................................................................................................3-7
3-2-1 Shaft characteristics...................................................................................................................3-7
3-2-2 Magnetic brake ..........................................................................................................................3-8
3-2-3 Dynamic brake characteristics.................................................................................................3-11
4. Dedicated Options
4-1 Regenerative option.................................................................................................................................4-2
4-1-1 Regenerative resistor unit..........................................................................................................4-4
4-1-2 Regenerative resistor................................................................................................................. 4-6
4-2 Machine side detector .............................................................................................................................4-8
4-3 Battery and terminator option..................................................................................................................4-9
4-3-1 Terminator (A-TM) ..................................................................................................................... 4-9
4-3-2 Battery (ER6)...........................................................................................................................4-10
4-3-3 Battery unit (MDS-A-BT)..........................................................................................................4-11
4-4 Relay terminal block (MR-J2CN3TM)...................................................................................................4-12
4-5 Cables and connectors..........................................................................................................................4-13
4-5-1 Cable connection diagram....................................................................................................... 4-13
4-5-2 Cable and connector options...................................................................................................4-14
5. Peripheral Devices
5-1 Selecting the wire size.............................................................................................................................5-2
5-1-1 Example of wires by unit............................................................................................................5-2
5-2 Selection of circuit protector and contactor.............................................................................................5-4
5-2-1 Selection of circuit protector ......................................................................................................5-4
5-2-2 Selection of contactor ................................................................................................................ 5-5
5-3 Selection of earth leakage breaker ........................................................................................ .................5-6
5-4 Selection of control power supply ...........................................................................................................5-7
5-5 Noise filter................................................................................................................................................5-8
5-6 Surge absorber........................................................................................................................................5-9
5-7 Relay......................................................................................................................................................5-10
6. Installation
6-1 Installing the servomotor .........................................................................................................................6-2
6-1-1 Environmental conditions........................................................................................................... 6-2
6-1-2 Vibration-resistance strength..................................................................................................... 6-2
6-1-3 Precautions for mounting load (Preventing impact on shaft)..................................................... 6-3
6-1-4 Installation direction...................................................................................................................6-3
6-1-5 Oil and waterproofing measures................................................................................................ 6-4
6-1-6 Cable stress............................................................................................................................... 6-5
6-2 Installation of the units.............................................................................................................................6-6
6-2-1 Environmental conditions........................................................................................................... 6-6
6-2-2 Installation direction and clearance ...........................................................................................6-7
6-2-3 Prevention of foreign matter entry .............................................................................................6-9
6-2-4 Panel installation hole machining drawings (Panel cut drawings)............................................. 6-9
6-2-5 Heating value........................................................................................................................... 6-10
6-2-6 Heat radiation countermeasures.............................................................................................. 6-11
6-3 Noise measures.....................................................................................................................................6-14
7. Wiring and Connection
7-1 Part system connection diagram.............................................................................................................7-3
7-2 Main circuit and control circuit connectors..............................................................................................7-4
7-2-1 Connector pin assignment......................................................................................................... 7-4
7-2-2 Main circuit and control circuit connector signal names and applications.................................7-5
7-3 NC and drive unit connection..................................................................................................................7-6
7-4 Motor and detector connection................................................................................................................7-7
7-4-1 Connection of servomotor HF Series.........................................................................................7-7
7-5 Connection of main circuit power supply..............................................................................................7-10
7-6 Connection of regenerative resistor......................................................................................................7-11
7-6-1 Connection of external option regeneration resistance unit....................................................7-11
7-6-2 Connection of external regenerative resistor...........................................................................7-12
7-7 Wiring of contactors...............................................................................................................................7-14
7-7-1 Contactor control......................................................................................................................7-14
7-7-2 Contactor control signal (MC) output circuit.............................................................................7-15
7-7-3 Contactor power ON sequences..............................................................................................7-16
7-7-4 Contactor shutoff sequences................................................................................................... 7-16
7-7-5 Monitor of contactor operation.................................................................................................7-17
7-8 Wiring of the motor brake......................................................................................................................7-18
7-8-1 Motor brake control signal (MBR) output circuit ...................................................................... 7-18
7-8-2 Motor brake release sequence................................................................................................7-19
7-8-3 Control during the servo OFF command................................................................................. 7-19
7-8-4 Operation sequences when an emergency stop occurs..........................................................7-19
7-9 Wiring of an external emergency stop..................................................................................................7-20
7-9-1 External emergency stop setting .............................................................................................7-20
7-9-2 External emergency stop signal (EMGX) input circuit.............................................................7-21
7-9-3 External emergency stop operation sequence........................................................................7-22
8. Setup
8-1 Servo drive unit initial settings.................................................................................................................8-2
8-1-1 Setting the rotary switch ............................................................................................................8-2
8-1-2 Transition of LED display after power is turned ON .................................................................. 8-3
8-2 Setting the initial parameters...................................................................................................................8-4
8-2-1 Setting the standard parameters ...............................................................................................8-4
8-2-2 Limitations to electronic gear setting value................................................................................ 8-8
8-2-3 Standard parameter list according to servomotor......................................................................8-9
8-3 List of parameters..................................................................................................................................8-13
9. Adjustment
9-1 Servo adjustment data output function (D/A output) ..............................................................................9-2
9-1-1 D/A output specifications ........................................................................................................... 9-2
9-1-2 Setting the output data............................................................................................................... 9-2
9-1-3 Setting the output magnification ................................................................................................9-3
9-1-4 Current feedback analog output function...................................................................................9-3
9-2 Gain adjustment.......................................................................................................................................9-4
9-2-1 Current loop gain ....................................................................................................................... 9-4
9-2-2 Speed loop gain.........................................................................................................................9-4
9-2-3 Position loop gain.......................................................................................................................9-7
9-3 Characteristics improvement...................................................................................................................9-9
9-3-1 Optimal adjustment of cycle time...............................................................................................9-9
9-3-2 Vibration suppression measures ............................................................................................. 9-12
9-3-3 Improving the cutting surface precision................................................................................... 9-16
9-3-4 Improvement of protrusion at quadrant changeover................................................................9-19
9-3-5 Improvement of overshooting..................................................................................................9-24
9-3-6 Improvement of characteristics during acceleration/deceleration ........................................... 9-26
9-4 Settings for emergency stop..................................................................................................................9-29
9-4-1 Deceleration control.................................................................................................................9-29
9-4-2 Vertical axis drop prevention control........................................................................................9-31
9-4-3 Vertical axis pull up control...................................................................................................... 9-33
10. Troubleshooting
10-1 Points of caution and confirmation......................................................................................................10-2
10-2 Troubleshooting at start up..................................................................................................................10-3
10-3 List of unit protection functions............................................................................................................10-4
10-3-1 List of alarms..........................................................................................................................10-4
10-3-2 List of warnings......................................................................................................................10-6
10-4 Troubleshooting according to alarm and warning number.................................................................10-7
10-4-1 Alarms....................................................................................................................................10-7
10-4-2 Warning................................................................................................................................10-18
10-4-3 Parameter No. during initial parameter error....................................................................... 10-20
11. Inspection
11-1 Inspections...........................................................................................................................................11-2
11-2 Service parts........................................................................................................................................11-2
Appendix 1. Cable and Connector Specifications
Appendix 1-1 Selection of cable................................................................................................................. A1-2
Appendix 1-1-1 Cable wire and assembly.........................................................................................A1-2
Appendix 1-2 Cable connection diagram................................................................................................... A1-4
Appendix 1-3 Connector outline dimension drawings ............................................................................... A1-8
Appendix 1-4 Cable and connector assembly......................................................................................... A1-14
Appendix 1-4-1 CM10-SP**S plug connector.................................................................................A1-14
Appendix 1-4-2 CM10-AP**S Angle Plug Connector......................................................................A1-21
Appendix 2. Selection
Appendix 2-1 Selection of servomotor capacity......................................................................................... A2-2
Appendix 2-1-1 Load inertia ratio......................................................................................................A2-2
Appendix 2-1-2 Short time characteristics........................................................................................A2-2
Appendix 2-1-3 Continuous characteristics.......................................................................................A2-3
Appendix 2-2 Selecting the regenerative resistor...................................................................................... A2-5
Appendix 2-2-1 Calculating the regenerative energy........................................................................A2-5
Appendix 2-2-2 Calculating the positioning frequency......................................................................A2-8
Appendix 2-3 Example of servo selection.................................................................................................. A2-9
Appendix 2-3-1 Motor selection calculation ......................................................................................A2-9
Appendix 2-3-2 Regenerative resistor selection calculation...........................................................A2-12
Appendix 2-3-3 Servo selection results...........................................................................................A2-14
Appendix 2-4 Motor shaft conversion load torque................................................................................... A2-15
Appendix 2-5 Expressions for load inertia calculation............................................................................. A2-16
Appendix 3. Compliance with European EC Directives
Appendix 3-1 Compliance to EC Directives............................................................................................... A3-2
Appendix 3-1-1 European EC Directives ..........................................................................................A3-2
Appendix 3-1-2 Cautions for EC Directive compliance.....................................................................A3-2
Appendix 4. EMC Installation Guidelines
Appendix 4-1 Introduction........................................................................................................................... A4-2
Appendix 4-2 EMC instructions.................................................................................................................. A4-2
Appendix 4-3 EMC measures.....................................................................................................................A4-3
Appendix 4-4 Measures for panel structure............................................................................................... A4-3
Appendix 4-4-1 Measures for control panel unit ...............................................................................A4-3
Appendix 4-4-2 Measures for door....................................................................................................A4-4
Appendix 4-4-3 Measures for operation board panel........................................................................A4-4
Appendix 4-4-4 Shielding of the power supply input section ............................................................A4-4
Appendix 4-5 Measures for various cables................................................................................................ A4-5
Appendix 4-5-1 Measures for wiring in panel....................................................................................A4-5
Appendix 4-5-2 Measures for shield treatment .................................................................................A4-5
Appendix 4-5-3 Servo/spindle motor power cable............................................................................A4-6
Appendix 4-5-4 Servo/spindle motor feedback cable .......................................................................A4-7
Appendix 4-6 EMC countermeasure parts................................................................................................. A4-8
Appendix 4-6-1 Shield clamp fitting...................................................................................................A4-8
Appendix 4-6-2 Ferrite core...............................................................................................................A4-9
Appendix 4-6-3 Power line filter......................................................................................................A4-10
Appendix 4-6-4 Surge protector......................................................................................................A4-15
Appendix 5. Instruction Manual for Compliance with UL/c-UL Standard
Appendix 5-1 Operation surrounding air ambient temperature................................................................. A5-2
Appendix 5-2 Notes for AC servo system.................................................................................................. A5-2
Appendix 5-2-1 General Precaution..................................................................................................A5-2
Appendix 5-2-2 Installation................................................................................................................A5-2
Appendix 5-2-3 Short-circuit ratings..................................................................................................A5-2
Appendix 5-2-4 Peripheral devices...................................................................................................A5-2
Appendix 5-2-5 Field Wiring Reference Table for Input and Output.................................................A5-2
Appendix 5-2-6 Motor Over Load Protection.....................................................................................A5-2
Appendix 5-2-7 Flange of servo motor..............................................................................................A5-2
Appendix 5-3 AC Servo/Spindle System Connection................................................................................ A5-3
Appendix 6. Transportation Restrictions for Lithium Batteries
Appendix 6-1 Restriction for packing.......................................................................................................... A6-2
Appendix 6-1-1 Target products........................................................................................................A6-2
Appendix 6-1-2 Handling by user......................................................................................................A6-3
Appendix 6-1-3 Reference ................................................................................................................A6-4
Appendix 6-2 Issuing domestic law of the United State for primary lithium battery transportation.......... A6-5
Appendix 6-2-1 Outline of regulation.................................................................................................A6-5
Appendix 6-2-2 Target products........................................................................................................A6-5
Appendix 6-2-3 Handling by user......................................................................................................A6-5
Appendix 6-2-4 Reference ................................................................................................................A6-5
Appendix 6-3 Example of hazardous goods declaration list ..................................................................... A6-6
Appendix 7. Compliance with Restriction in China
Appendix 7-1 Compliance with China Compulsory Product Certification System.................................... A7-2
Appendix 7-1-1 Outline of China Compulsory Product Certification System....................................A7-2
Appendix 7-1-2 First Catalogue of Products subject to Compulsory Product Certification...............A7-3
Appendix 7-1-3 Precautions for Shipping Products..........................................................................A7-3
Appendix 7-1-4 Application for Exemption........................................................................................A7-4
Appendix 7-1-5 Mitsubishi NC Product Subject to/Not Subject to CCC Certification.......................A7-5
Appendix 7-2 Response to the China environment restrictions................................................................ A7-6
Appendix 7-2-1 Outline of the law on the pollution prevention and control for electroni c information
products ..................................................................................................................A7-6
Appendix 7-2-2 Response to the drive product for Mitsubishi NC....................................................A7-6
Appendix 7-2-3 Indication based on "Pollution suppression marking request for electronic
information product"................................................................................................A7-7
Appendix 8. Old motor specifications
Appendix 8-1 Servomotor type................................................................................................................... A8-2
Appendix 8-2 Specifications list.................................................................................................................. A8-3
Appendix 8-3 Torque characteristics.......................................................................................................... A8-4
Appendix 8-4 Unit outline dimension drawing............................................................................................ A8-5
Appendix 8-5 Overload protection characteristics................................................................................... A8-17
Appendix 8-6 Magnetic brake characteristics.......................................................................................... A8-19
Appendix 8-7 Dynamic brake characteristics........................................................................................... A8-20
Appendix 8-8 Cables and connectors...................................................................................................... A8-22
Appendix 8-8-1 List of cables and connectors................................................................................A8-22
Appendix 8-8-2 Cable connection diagram.....................................................................................A8-26
Appendix 8-8-3 Connector outline dimension drawings..................................................................A8-28

1. Introduction

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 - 1

1-1 System configuration

From NC
Servo drive unit
(MDS-R-V1)
1. Introduction
Servo drive unit
(MDS-R-V2)
Battery unit
(MDS-A-BT)
Terminator
(A-TM)
To 24V power supply
Regenerative
resistor unit
Grounding
Contactor
(Note)
Prepared by user
G4 G3 C P
To 24V power supply
To 3rd axis servomotor
To 3rd axis servomotor
Regenerative
resistor unit
Grounding
G4 G3 C P
Contactor
(Note)
Prepared by user
Circuit protector
1st axis servomotor
(Note)
Prepared by user
3-phase 200VAC
power supply
1 - 2
2nd axis servomotor
Circuit protector
(Note)
Prepared by user
3-phase 200VAC
power supply
1. Introduction

1-2 Explanation of type

1-2-1 Servomotor type

HF Series
Motor type Rated output
Rated rotation speed Serial No.
HF
A48 260,000p/rev A51
S Straight T Taper
None None B With magnetic brakes
Max. 4000r/min Max. 3000r/min Max. 2000r/min Symbol Rating Symbol Rating Symbol Rating
75 0.4 kW 54 0.5 kW 142 1.4 kW 105 0.75kW 104 1.0 kW 302 3.0 kW 154 1.5 kW 224 2.2 kW 204 2.0 kW 354 3.5 kW 123 1.2 kW 223 2.2 kW 303 3.3 kW
(1) (2) (3) - (4)
Symbol Detection method Resolution
Absolute position
Symbol Shaft end structure
Symbol Magnetic brakes
HF□medium-inertia
series
MITSUBISHI
AC
INPUT 3AC 155 V xxx A OUTPUT
x. x
kW IEC34-1 1994
SER.No.
MITSUBISH I E LECTRI C MADE IN JAPAN
Motor rati ng nameplate
3000r/min
xxxxxxxx※
DATE
04-1
00395298-01
1,000,000p/rev
(Note) HF204, 302, 303, 354 are compatible only with
the straight axis specifications.
HF□medium-inertia
series
HF□medium-inertia
series
1 - 3

1-2-2 Servo drive unit type

Motor type Rated input
Rated output Current state
Serial No.
MDS-R-
1-axis servo drive unit Compatible motor HF Series
(1) Motor
type
MDS-R-
V1-20 L ◎◎◎ ◎ ◎ V1-40 V1-60 L ◎◎◎ ◎ V1-80
(1) Motor
type
MDS-R-
V2-2020 L/M ◎◎◎ ◎ ◎ V2-4020
V2-4040 V2-6040
V2-6060 L/M ◎◎◎ ◎
V2-8040
V2-8060
V2-8080
60mm width
90mm width
2-axis servo drive unit Compatible motor HF Series
60mm width
90mm width
(1)
Unit width
Unit width
1. Introduction
MITSUBISHI
TYPE
POWER 1.0kW INPUT 6A 3PH 200-230V 50/60Hz
0.1A DC24V OUTPUT 6.6A 3PH 155V 0-240Hz MANUAL *BNP-C3045
S/W BNDXXXXXXXXX H/W VER.* SERIAL# XXXXXXXXXXX DATE 03/11
MITSUBISHI ELECTRIC CORPORATION JAPAN
X X X X X X X
Rating nameplate
SERVO DRIVE UNIT
MDS-R-V1-40
Drive shaft
Drive shaft
75 105 54 104 154 224 204 354 123 223 303 142 302
L ◎ ◎ ◎
L ◎
75 105 54 104 154 224 204 354 123 223 303 142 302
M ◎◎◎ ◎ ◎ L ◎ ◎ ◎
L/M ◎ ◎ ◎
M ◎ ◎ ◎ L ◎◎◎ ◎
M ◎ ◎ ◎ L ◎ M ◎◎◎ ◎ L ◎
L/M ◎
Medium-inertia
Medium-inertia
(Note) indicates the motor corresponding to each servo drive unit.
1 - 4

2. Specifications

2-1 Servomotor
2-1-1 Specifications list.........................................................................................................................2-2
2-1-2 Torque characteristics................................................................................................................. 2-3
2-1-3 Outline dimension drawings........................................................................................................2-4
2-2 Servo drive unit ................................................................................................................................ 2-49
2-2-1 Installation environment conditions........................................................................................... 2-49
2-2-2 Specifications list.......................................................................................................................2-49
2-2-3 Outline dimension drawings......................................................................................................2-50
2-2-4 Explanation of each part............................................................................................................2-54
.........................................................................................................................................
2-2
2 - 1
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