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Mitsubishi Electronics
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MDS-R
User Manual
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Mitsubishi Electronics MDS-R User Manual

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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

2-1 Servomotor

2-1-1 Specifications list

HF Series
Servomotor type
Compatible servo drive unit type (Note 4)
Rated output [kW]
Rated current[A] Continuous characteristics
Rated torque
Stall current [A]
Stall torque
Rated rotation speed [r/min] Maximum rotation speed [r/min] Maximum current [A] Maximum torque
Motor inertia Motor inertia with brake Maximum motor shaft conversion load
inertia rate Motor side detector resolution Structure
Ambient temperature Ambient humidity Atmosphere
Environment
Altitude
Vibration
Mass Without/with brake Armature insulation class
MDS-R-V1/V2-
[N･m]
[N･m]
[N･m] [kg･cm2] [kg･cm2]
[kg]
2. Specifications
HF□□-A48/A51
HF
303
2
2
2000r/min
Series
HF
142
X:24.5
2
m/s (2.5G) Y:24.5
2
m/s (2.5G)
8.3
/10.3
HF
302
X:24.5
m/s
(2.5G)
Y:49 m/s (5G)
19/25
2
2
4000r/min
Series
HF
HF
HF
HF
75
105
54
20 20 20
0.4 0.75 0.5 1.0 1.5 2.2 2.0 3.5 1.2 2.2 3.0 1.4 3.0
2.2 3.7 1.9 3.5 5.3 8.5 6.9 10.3 5.2 9.0 10.7 5.2 10.9
1.27 2.39 1.59 3.18 4.77 7.0 6.37 11.1 5.7 10.5 14.3 6.7 14.3
3.2 4.6 3.6 6.5 9.9 14.5 14.8 20.8 6.4 10.2 15.8 6.4 10.9
2.0 3.0 2.94 5.88 8.82 12.0 13.7 22.5 7.0 12.0 22.5 11.0 20.0
3000 3000 3000 3000 3000 3000 3000 3000 2000 2000 2000 2000 2000
4000 3000 2000
13.7 17.0 15.3 25.6 42.0 45.8 45.8 59.2 15.5 29.0 45.8 15.5 29.0
8.0 11.0 11.8 21.6 35.3 37.0 41.7 59.8 17.0 32.0 60.0 26.5 50.0
2.6 5.1 6.1 11.9 17.8 23.7 38.3 75.0 11.9 23.7 75.0 17.8 75.0
2.8 5.3 8.3 14.1 20.0 25.9 48.0 84.7 14.1 25.9 84.7 20.0 84.7 Machine tool (Compensation axis): 5 times or less of motor inertia
General machine (non-compensation axis): 10 times or less of motor inertia
Operation: 0 to 40°C (non freezing), Storage: -15 to 70°C (non freezing)
Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
X:49m/s2 (5G)
2
Y:49m/s
(5G)
2.5
4.3
/3.9
/5.7
4.8
/6.8
X:24.5m/s Y:24.5m/s
HF
104
154
60
40
A51： For high-gain 1,000,000 pulse/rev A48： For general use 260,000 pulse/rev
Fully closed, natural-cooling (Protection method: IP67) (Note 3)
Operation: 80%RH or less (non condensing),
Storage: 90%RH or less (non condensing)
Operation: 1000 meters or less above sea level,
Storage: 1000 meters or less above sea level
2
(2.5G)
2
(2.5G)
6.5
8.3
/8.5
/10.3
3000r/min Series
HF
HF
224
60
X:24.5m/s
10/12 12/18 19/25
HF
204
354
60
80 20 40 60 20 40
2
(2.5G)
2
Y:49m/s
(5G)
Class F
HF
123
X:24.5m/s Y:24.5m/s
6.5 /8.5
HF
223
X:24.5
2 2
m/s
(2.5G)
(2.5G)
Y:49
(2.5G)
m/s (5G)
10/12 19/25
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the values when
combined with t h e d r i v e u n i t .
(Note 2) Use the HF motor in combination with the MDS-R Series drive unit compatible with the 200VAC input.
This motor is not compatible with the conventional MDS-B/C1/CH Series.
(Note 3) The shaft-through portion is excluded. (Note 4) "( )" indicates the combination with the drive unit capacity of one rank up. The motor characteristics are same as the
characteristics applied when the drive unit capacity is standard.
2 - 2
024
0
0
0
5
0
q [
]
0
0
q [
]
q [
]
0
0
q [
]
q [
]
q [
]
q [
]
q [
]
6
Conti
Conti
Conti

2-1-2 Torque characteristics

[ HF75 ]
10
2. Specifications
[ HF105 ]
20
20
[ HF54 ]
8 6
Sh ort time o peration range
Torque [Nm]
C ontin uo us opera tion ra nge
0
000 4000
Rotation speed [r/min]
[ HF104 ]
25 20 15
Nm
Sh ort time o peration range
ue
10
Tor
nuous
operation range
1000
20 00 30 00
Rotation speed [r/min]
[ HF204 ]
0
0
Nm
0
Short time ope r at io n r ang e
ue
0
Tor
0
nu ous
1000
20 00 30 00
operation rang e
Rotation speed [r/min]
15
10
Torque [Nm]
Short time ope r at ion ra ng e
5
Conti nuous ope rat io n r ang e
0
2000 4000
Rota tion speed[r/m in]
[ HF154 ]
40
30
Short time ope r at ion ra ng e
Nm
20
ue Tor
10
Continuo us operation ra nge
1000
20 00 3000
Ro tation speed [ r/min]
[ HF3 54 ]
80
60
Nm ue
40
Short time op er at io n r ang e
Tor
20
nuous
op e r ation r an ge
0
1000
020003000
Rotation speed [r/min]
15
10
Short ti me ope r ation ra nge
Torque [Nm]
5
Continuous operat ion range
0
10 00 2000 3000
Rotation speed [r/min]
[ HF224 ]
50
40
Nm
30
Short ti me ope r ation ra nge
ue
20
Tor
10
Co ntinu ous op er at io n ran ge
0
1000
0
Rotation speed [r/min]
[ HF123 ]
20
15
Nm ue
10
Sho r t tim e op e rat io n r ang e
Tor
5
Continuous op erat io n r ang e
0
10 00
0 2000
Rotation speed [r/min]
000 2000
3000
[ HF223 ]
40 30
Nm ue
20
Short time ope r at io n r ang e
Tor
10
Co ntin uou s operation range
Rotation speed [r/min]
60
10 00
[ HF302 ]
Nm ue
Tor
20 0 0 30 0 0
[ HF303 ]
80
60
40
Short time ope r at ion ra ng e
20
Continuous opera tion ran ge
0
10 00
0 2000 3000
Rotation speed [r/min]
30
24
18
12
Torque [Nm]
0
[ HF142]
Shor t ti me opera ti o n rang e
Con tinuo us operation ra nge
0 2000
Rotation speed [r/mi n]
1000
(Not e1) Th e char acteristic valu e in the above grap h s is a val ue
40
Short time ope r at ion ra nge
20
Torque [Nm]
C ontin uou s opera tion ra nge
0
0 2000
Rotation speed [r/min]
1000
applied when the motor is combined with each co mpa tible unit.
(Note2) The above graphs show the data for the input voltage
of 200VAC. When th e input voltage is 200V AC or less, the short time operation range is limited.
2 - 3
2. Specifications

2-2 Servo drive unit

2-2-1 Installation environment conditions

Common installation environment conditions for servo drive unit are shown below.
Environ­ment

2-2-2 Specifications list

Servo drive unit type
Nominal maximum current (peak) Power facility capacity [kVA] 1.3 1.9 4.0 5.8
Output
Input
Control power
Earth leakage current [mA] 1 (Max. 2) Control method Sine wave PWM control method Current control method Braking Regenerative resistor External option Dynamic brakes Built-in External analog output 0 to +5V, 2ch (data for various adjustments) Structure Protection type (Protection method: IP10) Cooling method Forced wind cooling (Fin) Mass [kg] 3.3 3.3 5.0 5.0 Heat radiated at rated output Noise Less than 55dB
Servo drive unit type
Nominal maximum current (peak) Power facility capacity [kVA] 2.5 3.2 3.9 5.9 8.0 7.8 9.8 11.7
Output
Input
Control power
Earth leakage current [mA] 1 (Max.4 for 2 axes) Control method Sine wave PWM control method Current control method Braking Regenerative resistor External option Dynamic brakes Built-in External analog output 0 to +5V, 2ch (data for various adjustments) Structure Protection type (Protection method: IP10) Cooling method Forced wind cooling (Fin) Mass [kg] 3.5 3.5 3.5 5.5 5.5 5.5 5.5 5.5 Heat radiated at rated output Noise Less than 55dB
Ambient temperature Operation: 0 to 55°C (with no freezing), Storage / Transportation: -15°C to 65°C (with no freezing) Ambient humidity
Atmosphere Altitude Operation/Storage: 1000 meters or less above sea level, Transportation: 10000 meters or less above sea level
Vibration/impact 5.9m/s
With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
Operation: 90%RH or less (with no dew condensation)
Storage / Transportation: 90%RH or less (with no dew condensation)
Indoors (no direct sunlight)
2
(0.6G)
(1) 1-axis servo drive unit
MDS-R-V1- 20 40 60 80
[A] 20 40 60 80
Rated voltage [V] 155AC Rated current [A] 3.8 6.6 12.0 17.0 Rated voltage [V] 3-phase 200 to 230AC Rated current [A] 3.0 6.0 11.0 15.0 Voltage [V] Current [A] Max. 0.6 Max. 0.8 Rush current [A] 2.4 3.2 Rush conductivity time
[ms] 100ms
[W] 46 73 101 141
1-axis servo drive unit MDS-R-V1 Series
24DC ±10%
(2) 2-axis servo drive unit
MDS-R-V2- 2020 4020 4040 6040 6060 8040 8060 8080
[A] 20/20 40/20 40/40 60/40 60/60 80/40 80/60 80/80
Rated voltage [V] 155AC Rated current [A] 3.8 + 3.8 6.6 + 3.8 6.6 + 6.6 12.0 + 6.6 12.0 + 12.0 17.0 + 6.6 17.0 + 12.0 17.0 + 17.0 Rated voltage [V] 3-phase 200 to 230AC Rated current [A] 6.0 9.0 12.0 17.0 22.0 21.0 26.0 30.0 Voltage [V] Current [A] Max. 0.9 Max. 1.1 Max. 1.5 Rush current [A] 3.6 4.4 6.0 Rush conductivity time
[ms] 100ms
[W] 89 115 143 170 200 218 240 278
2-axis servo drive unit MDS-R-V2 Series
24DC ±10%
2 - 49

2-2-3 Outline dimension drawings

(1) 1-axis servo drive unit
MDS-R-V1-20 MDS-R-V1-40
(Note3)
40
Intake
2. Specifications
70
Wiring
allowance
ø6 hole
340
(Note3)
40
15
(Note3)
226
165
380
350 1515
8
30
60
360 10
6
(8)
(Note 1) Attach packing around the square hole for sealing. (Note 2) The intake fan can be mounted only at the top as shown above. (Note 3) Required wind passage space
2 - 50
2-M5 screw hole
hole machining drawing
Square
hole
(Note 1)
52
Panel mounting
342
10
360
Unit [mm]
MDS-R-V1-60 MDS-R-V1-80
(Note3)
40
Intake
2. Specifications
70
Wiring
allowance
ø6 hole
340
(Note3)
40
15
(Note3)
226
165
380
350 1515
8
30
6
45
90
360 10
(8)
(Note 1) Attach packing around the square hole for sealing. (Note 2) The intake fan can be mounted only at the top as shown above. (Note 3) Required wind passage space
2 - 51
2-M5 screw hole
Square
hole
(Note 1)
82
Panel mounting
hole machining drawing
342
360
10
Unit [mm]
(2) 2-axis servo drive unit
MDS-R-V2-2020 MDS-R-V2-4040 MDS-R-V2-4020
(Note2)
40
Intake
2. Specifications
70
Wiring
allowance
ø6 hole
340
Intake
(Note2)
40
15
(Note2)
226
165
380
350 1515
8
30
60
360 10
6
(8)
(Note 1) Attach packing around the square hole for sealing. (Note 2) Required wind passage space
2 - 52
2-M5 screw hole
hole machining drawing
Square
hole
(Note 1)
52
Panel mounting
342
10
360
Unit [mm]
(
)
]
2. Specifications
MDS-R-V2-6040 MDS-R-V2-8040 MDS-R-V2-8080 MDS-R-V2-6060 MDS-R-V2-8060
70
Wiring
(Note2)
40
Intake
allowance
ø6 hole
340
Intake
(Note2)
40
15
(Note2)
226
165
380
350 1515
8
30
6
45
90
360 10
8
(Note 1) Attach packing around the square hole for sealing. (Note 2) Required wind passage space
2-M5 screw hole
Square
hole
(Note 1)
82
342
360
10
Unit [mm
Panel mounting
hole machining drawing
2 - 53

2-2-4 Explanation of each part

(1) Explanation of each servo drive unit part
<1>
<4>
<2>
<3>
<5>
2. Specifications
<1>
<4>
<2>
<3>
<5>
<6>
<8>
<12> <13>
<16>
<7>
<10>
<14>
<6> <8>
<9>
<12> <13>
<16>
<7>
<10> <11>
<14>
<15>
MDS-R-V1 (1-axis servo drive unit) MDS-R-V2 (2-axis servo drive unit)
The connector layout differs according to the unit being used. Refer to each unit’s outline drawing for details.
Each part name
Name Description
<1> LED --- Unit status indication LED <2> SW1 --- Axis No. setting switch (Left: L axis, Right: M axis) <3> BT1A --- Battery connection connector <4> CN1A --- NC or upward axis communication connector <5> CN1B --- Battery unit/Terminator/Lower axis communication connector <6> CN9 --- Analog output connector <7> CN4 --- Maintenance connector <8> CN2L --- Motor side detector connection connector (L axis) <9> CN2M --- Motor side detector connection connector (M axis)
Control circuit <10> CN3L --- Machine side detector connection connector (L-axis) <11> CN3M --- Machine side detector connection connector (M-axis) <12> CN22 --- Control power (24VDC) input connector <13> <14> CN31L LU, LV, LW, PE L axis motor drive output (3-phase AC output) connector <15> CN31M MU, MV, MW, PE M axis motor drive output (3-phase AC output) connector
<16>
(Note) CN2M/CN31M are not mounted with the MDS-R-V1 unit.
--- CHARGE LAMP Converter voltage output discharge status indication LED
Main
circuit
CN30 L1, L2, L3, PE, P, C
Power input (3-phase AC input), regenerative resistor connection connector
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
3 - 1
3. Characteristics

3-1 Drive unit characteristics

3-1-1 Heating value

The heating value of each servo drive unit is the heating value at stall output.
Heating value [W] Heating value [W] Servo drive unit type
MDS-R-
V1-20 15 31 V2-2020 26 63 V1-40 21 52 V2-4020 32 83 V1-60 27 74 V2-4040 38 105 V1-80 36 105 V2-6040 45 125
V2-6060 50 150 V2-8040 53 158 V2-8060 60 180 V2-8080 68 210
Inside
panel
Outside
panel
Servo drive unit type
MDS-R-
Inside
panel
Outside
panel
Design the panel's heating value taking the actual axis operation (load rate) into
POINT
consideration. With a general machine tool, the servo drive unit's load rate is approx. 50%, so the heating values inside the panel are half the values shown above.
Calculation example: When using MDS-R-V1-20 and MDS-R-V2-2020
Total heating value = (15 + 31) + (26 + 63) = 135 [W] Heating value in panel = 15 x 0.5 + 26 x 0.5 = 20.5 [W]
3 - 2
3. Characteristics

3-1-2 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 current is commanded at 95% or higher continuously for one second or more due to a machine collision, etc., overload 2 (alarm 51) will occur.
3 - 3
3. Characteristics
（1）HF-75+V1-20、HF-44+V1-20 （2）HF75+V1-40、HF44+V1-40
10000
10000
1000
100
時間（sec）
Time (sec)
10
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
（3）HF105-V1-20、HF74-V1-20 （4）HF-105+V1-40、HF74-V1-40
10000
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
10000
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
（5）HF-54+V1-20、HF-53+V1-20 （6）HF-54+V1-40、HF-53+V1-40
10000
10000
1000
100
時間（sec）
Time (sec)
10
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
（7）HF-104+V1-20、HF-103+V1-20 （8）HF-104+V1-40、HF-103+V1-40
10000
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
10000
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
3 - 4
3. Characteristics
（9）HF-154+V1-40、HF-153+V1-40 （10）HF-154+V1-60、HF-153+V1-60
10000
10000
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
（11）HF-154+V1-80 、HF-153+V1-80 （12）HF-224+V1-60
10000
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
10000
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
（13）HF-204+V1-40、HF-203+V1-40 （14）HF-204+V1-60、HF-203+V1-60
10000
10000
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 1 00 200 300 400 5 00
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
（15）HF-204+V1-80、HF-203+V1-80 （16）HF-354+V1-60、HF-353+V1-60
10000
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
10000
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
3 - 5
3. Characteristics
（17）HF-354+V1-80、HF-353+V1-80 （18）HF-123+V1-20
10000
1000
10000
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
（19）HF-223+V1-40 （20）HF-303+V1-60
10000
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 10 0 200 300 400 5 00
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
10000
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
（21）HF-142+V1-20 （22）HF-302+V1-40
10000
10000
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 1 00 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
1000
100
時間（sec）
10
Time (sec)
1
0.1 0 100 200 300 400 500
モータ電流値（ストール定格電流値比 ％）
Current (stall %)
3 - 6
3. Characteristics

3-2 Servomotor

3-2-1 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.
Servo motor Tolerable radial load Tolerable thrust load
HF75T, HF105T（Taper shaft） HF75S, HF105S（Straight shaft） HF54T, HF104T, HF154T, HF224T, HF123T, HF223T, HF142T （Taper shaft） HF54S, HF104S, HF154S, HF224S, HF123S, HF223S, HF142S （Straight shaft） HF204S, HF354S, HF303S, HF302S （Straight shaft）
Note: The symbols in the table follow the drawing below.
245N (L=33) 147N 245N (L=33) 147N
392N (L=58) 490N
980N (L=55) 490N
2058N (L=79) 980N
L
Radial load
L : Length from flange installation surface to center of load [mm]
CAUTION
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 - 7

3-2-2 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 (CN9) 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.)
(c) Features
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 (flange size) 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
ming belt
Ti
Top
Load
Bottom
Ball screw
3 - 8
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 DC24V
Rated current at 20°C （A） Capacity （W） 9 19 34 Static friction torque （N･m） 2.4 8.3 43.1 Inertia (Note 2) （kg･cm Release delay time (Note 3) （s） 0.03 0.04 0.1 Braking delay time (Note 3)
braking work amount Brake play at motor axis (Note 7)
Brake life (Note 4)
DC OFF Per braking （J） 64 400 4500 Tolerable Per hour
No. of braking operations Work amount per braking
（s） 0.03 0.03 0.03
（J） 640 4000 45000
（degree） 0.1～0.9 0.2～0.6 0.2～0.6
（times） 20000 20000 20000
（J） 32 200 1000
2
HF75B, HF105B,
Spring closed non-exciting operation magnetic brakes
(for maintenance and emergency braking)
0.38
） 0.2 2.2 9.6
HF54B, HF104B, HF154B, HF224B, HF123B, HF223B, HF142B
0.8 1.4
HF204B, HF354B, HF303B, HF302B
Notes:
1. There is no manual release mechanism. If handling is required such as during the machine core alignment work, prepare a separate 24VDC power supply, and electrically release a brake.
2. These are the values added to the servomotor without a brake.
3. This is the representative value for the initial attraction gap at 20C.
4. The brake gap will widen through brake lining wear caused by braking. However, the gap cannot be adjusted. Thus, the brake life is considered to be reached when adjustments are required.
5. A leakage flux will be generated at the shaft end of the servomotor with a magnetic brake.
6. When operating in low speed regions, the sound of loose brake lining may be heard. However, this is not a problem in terms of function.
7. This is the main default value, and is not a guaranteed value.
3 - 9
(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 arbitrary. Make sure not to mistake the terminals with other circuits.
(b) Brake excitation circuit
1) AC OFF and 2) DC OFF can be used to turn OFF the brake excitation power supply (to apply
the brake).
1) AC OFF The braking delay time will be longer, but the excitation circuit will be simple, and the relay cut off capacity can be decreased.
2) DC OFF The braking delay time can be shortened, but a surge absorber will be required and the relay cut off capacity will be increased.
<Cautions>
Provide sufficient DC cut off capacity at the contact. Always use a surge absorber.
100VAC or 200VAC
PS ZD1, ZD2 VAR1, VAR2
3. Characteristics
24VDC
SW2
VAR2
Magnetic brake 1
Magnetic brake 2
PS
ZD1
ZD2
SW1
VAR1
(b) Example of DC OFF
: 24VDC stabilized power supply : Zener diode for power supply protection (1W, 24V) : Surge absorber
Magnetic brake circuits
3 - 10
3. Characteristics

3-2-3 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
Motor
type
HF75
HF105
HF54
HF104
HF154 HF224 HF204 HF354 HF123
HF223
HF303 HF142
HF302
Tdp
0
Ndp
Motor speed
Deceleration torque characteristics of a dynamic brake
Max. deceleration torque of a dynamic brake
Combination unit
MDS-R-V1-20 MDS-R-V2-2020/4020 MDS-R-V1-20 MDS-R-V2-2020/4020 MDS-R-V1-20 MDS-R-V2-2020/4020 MDS-R-V1-40 MDS-R-V2-4020/4040 MDS-R-V2-6040/8040 5.88 539 10.04 MDS-R-V1-60 MDS-R-V2-6040/6060/8060 MDS-R-V1-60 MDS-R-V2-6040/6060 MDS-R-V1-60 MDS-R-V2-6040/6060/8060 MDS-R-V1-80 MDS-R-V2-8040/8060/8080 MDS-R-V1-20 MDS-R-V2-2020/4020 MDS-R-V1-40 MDS-R-V2-4020/4040 MDS-R-V2-6040/8040 12 500 21.56 MDS-R-V1-60 MDS-R-V2-6040/6060/8060 MDS-R-V1-20 MDS-R-V2-2020/4020 MDS-R-V1-40 MDS-R-V2-4020/4040 MDS-R-V2-6040/8040 20 305 35.45
Stall torque
(N・m)
2 1254 5.43 3 1254 5.43
2.94 478 3.96
5.88 409 10.04
8.82 541 15.62 12 660 21.77
13.7 367 15.94
22.5 464 35.24
7 370 9.74
12 339 21.56
22.5 357 35.33 11 330 15.46 20 190 35.45
Ndp
(r/min)
Tdp
(N・m)
3 - 11
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.
L
MAX =
F
60
▪ {te + (1 +
L
MAX : Motor coasting distance (angle) [mm, (deg)]
F
L
J
) ▪ (A ▪ N2 + B)}
M
J
: Axis feedrate [mm/min, (deg/min)]
N : Motor rotation speed [r/min]
M : Motor inertia [kg
J
L : Motor shaft conversion load inertia [kg
J 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)
Dynamic brake control output
Actual dynamic brake operation
Motor rotation speed
OFF ON
OFF ON
OFF ON
N
Coasting amount
te
.
cm2]
.
cm2]
Time
namic brake braking diagram
Dy
3 - 12
3. Characteristics
Coasting amount calculation coefficients table
Motor
type
HF75
HF105
HF54
HF104
HF154
HF224
HF204
HF354
HF123
HF223
HF303
HF142
HF302
Combination unit
MDS-R-V1-20 MDS-R-V2-2020/4020 MDS-R-V1-20 MDS-R-V2-2020/4020 MDS-R-V1-20 MDS-R-V2-2020/4020 MDS-R-V1-40
MDS-R-V2-4020/4040 MDS-R-V2-6040/8040 MDS-R-V1-60 MDS-R-V2-6040/6060/8060 MDS-R-V1-60 MDS-R-V2-6040/6060 MDS-R-V1-60 MDS-R-V2-6040/6060/8060 MDS-R-V1-80 MDS-R-V2-8040/8060/8080 MDS-R-V1-20 MDS-R-V2-2020/4020 MDS-R-V1-40 MDS-R-V2-4020/4040 MDS-R-V2-6040/8040 MDS-R-V1-60 MDS-R-V2-6040/6060/8060 MDS-R-V1-20 MDS-R-V2-2020/4020 MDS-R-V1-40 MDS-R-V2-4020/4040 MDS-R-V2-6040/8040
DB
resistance
value (Ω)
0 2.6 0.67 3.14 0 5.1 1.31 6.16 0 6.1 5.62 3.85
0 11.9 5.06 2.54
0.2 11.9 3.84 3.35
0.2 17.8 3.68 3.23
0.2 23.7 2.88 3.76
0.2 38.3 11.41 4.62
0.2 75 8 5.17
0 11.9 5.77 2.36
0 23.7 5.66 1.95
0.2 23.7 3.84 2.88
0.2 75 10.37 3.97
0 17.8 6.09 1.99
0 75 19.45 2.1
0.2 75 12.11 3.38
Jm (kg
・㎝
2
)
A×10
-9
B×10-3
3 - 13
3 - 14

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
4 - 1
4. Dedicated Options

4-1 Regenerative option

For the regenerative option, always select a regenerative resistor unit or regenerative resistor in the correct combination for each servo drive unit. Refer to "Appendix 2-2 Selecting the regenerative resistor" for details on selecting the regenerative option. 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.
List of regenerative option correspondence
Regenerative
resistor type
(Japan
Resistor)
Regenerative
resistor unit
type
Regenerative
capacity
Resistance
value
MDS-R-V1-20 MDS-R-V1-40 MDS-R-V1-60
MDS-R-V1-80 MDS-R-V2-2020 MDS-R-V2-4040 MDS-R-V2-6040 MDS-R-V2-6060 MDS-R-V2-8040 MDS-R-V2-8060 MDS-R-V2-8080
GZG80
GZG200
W26
OHMJ
40W 100W 150W 200W 200W 300W 300W 500W 300W 500W 800W
26Ω
W26
OHMJ
26 20 13 8 40 13 13 6.7 6.7 8
GZG300
W20
OHMJ
GZG400
OHMJ
GZG400
W13
OHMJ
   
GZG200
W120
W8
OHMJ 3 units
connected
in parallel
MR-RB32 MR-RB30 MR-RB50 MR-RB31 MR-RB51 MR-RB65
Note: Types indicated with a cannot be used when driving the HF353 motor.
Manufacturer: Japan Resistor
GZG200
W39 OHMJ 3 units
connected
in parallel
 
GZG300
W39
OHMJ
3 units
connected
in parallel
GZG200
W20 OHMJ 3 units
connected
in parallel
GZG300
W20 OHMJ 3 units
connected
in parallel
GRZG400-2
OHMJ
4 units
connected
in serial
4 - 2
4. Dedicated Options
No. Abbrev.
SV036 PTYP*
F EDCBA98765 4 3 2 10 amp rtyp emgx
8 Select the regenerative resistor type. 9 A B 2 GZG200W26OHMJ 3 GZG300W20OHMJ
4
5
6
7
8
9 A GZG80W26OHMJ
B GZG400W13OHMJ C GZG400W8OHMJ D to F Setting prohibited
0 to 1 Setting prohibited
Parameter
name
Regenerative resistor type
Explanation
bit Explanation
rtyp
Setting Regenerative resistor or regenerative resistor unit
MR-RB32 or GZG200W1200HMJ 3 units connected in parallel
MR-RB30 or GZG200W39OHMJ 3 units connected in parallel
MR-RB50 or GZG300W39OHMJ 3 units connected in parallel
MR-RB31 or GZG200W20OHMJ 3 units connected in parallel
MR-RB51 or GZG300W20OHMJ 3 units connected in parallel
MR-RB65 or GRZG400-20HMJ 4 units connected in serial
Only the designated
1.
combination can be used for the regenerative option and
servo drive unit.
CAUTION
There is a risk of fire, so always use the designated combination.
2. Correct protection will not be attained if the parameter setting is incorrect. Check the regenerative resistor type carefully, and set the parameters.
4 - 3
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