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Mitsubishi Electric MDS D SVJ3 SP J3 Series Specifications Manual PDF
Summary of Content for Mitsubishi Electric MDS D SVJ3 SP J3 Series Specifications Manual PDF
Introduction
Thank you for selecting the Mitsubishi numerical control unit. This instruction manual describes the
handling and caution points for using this AC servo/spindle.Incorrect handling may lead to unforeseen
accidents, so always read this instruction manual thoroughly to ensure correct usage.
In order to confirm if all function specifications described in this manual are applicable, refer to the
specifications for each CNC.
Notes on Reading This Manual
(1) Since the description of this specification manual deals with NC in general, for the specifications of
individual machine tools, refer to the manuals issued by the respective machine manufacturers.
The "restrictions" and "available functions" described in the manuals issued by the machine
manufacturers have precedence to those in this manual.
(2) This manual describes as many special operations as possible, but it should be kept in mind that
items not mentioned in this manual cannot be performed.
Precautions for safety
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 " CAUTION" may lead to major results depending on the situation.
In any case, important information that must be observed is described.
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.
DANGER
WARNING
CAUTION
The signs indicating prohibited and mandatory matters are explained below.
The meaning of each pictorial sign is as follows.
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, servo motor and spindle motor, etc.
In this section "Precautions for safety", the following items are generically called the "motor".
Servo motor
Linear servo motor
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
Indicates a prohibited matter. For example, "Fire Prohibited" is indicated as .
Indicates a mandatory matter. For example, grounding is indicated as .
CAUTION
CAUTION rotated
object
CAUTION HOT
Danger Electric shock
risk
Danger explosive
Prohibited
Disassembly is
prohibited
KEEP FIRE AWAY
General instruction
Earth ground
Important matters that should be understood for operation of this machine are indicated as a POINT
in this manual. POINT
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. For the motor, ground it via the drive unit.
Wiring, maintenance and inspection work must be done by a qualified technician.
Wire the servo drive unit and servo motor 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.
Always insulate the power terminal connection section. Failure to observe this could lead to electric
shocks.
After assembling the built-in IPM spindle motor, if the rotor is rotated by hand etc., voltage occurs
between the terminals of lead. Take care not to get electric shocks.
WARNING
2. Injury prevention
When handling a motor, perform operations in safe clothing.
In the system where the optical communication with CNC is executed, do not see directly the light
generated from CN1A/CN1B connector of drive unit or the end of cable. When the light gets into eye,
you may feel something is wrong for eye.
(The light source of optical communication corresponds to class1 defined in JISC6802 or IEC60825-1.)
The linear servo motor, direct-drive motor and built-in IPM spindle motor uses permanent magnets in
the rotor, so observe the following precautions.
(1)Handling
The linear servo motor, direct-drive motor and built-in IPM spindle motor could adversely affect
medical electronics such as pacemakers, etc., therefore, do not approach the rotor.
Do not place magnetic materials as iron.
When a magnetic material as iron is placed, take safety measure not to pinch fingers or hands
due to the magnetic attraction force.
Remove metal items such as watch, piercing jewelry, necklace, etc.
Do not place portable items that could malfunction or fail due to the influence of the magnetic
force.
When the rotor is not securely fixed to the machine or device, do not leave it unattended but store
it in the package properly.
When installing the motor to the machine, take it out from the package one by one, and then install
it.
It is highly dangerous to lay out the motor or magnetic plates together on the table or pallet,
therefore never do so.
(2)Transportation and storage
Correctly store the rotor in the package to transport and store.
During transportation and storage, draw people's attention by applying a notice saying "Strong
magnet-Handle with care" to the package or storage shelf.
Do not use a damaged package.
(3)Installation
Take special care not to pinch fingers, etc., when installing (and unpacking) the linear servo
motor.
WARNING
1. Fire prevention
Install the units, motors and regenerative resistor on non-combustible material. Direct installation on
combustible material or near combustible materials could lead to fires.
Always install a circuit protector and contactor on the servo drive unit power input as explained in this
manual. Refer to this manual and select the correct circuit protector and contactor. An incorrect
selection could result in fire.
Shut off the power on the unit side if a fault occurs in the units. Fires could be caused if a large current
continues to flow.
When using a regenerative resistor, provide a sequence that shuts off the power with the regenerative
resistor's error signal. The regenerative resistor could abnormally overheat and cause a fire due to a
fault in the regenerative transistor, etc.
The battery unit could heat up, ignite or rupture if submerged in water, or if the poles are incorrectly
wired.
Cut off the main circuit power with the contactor when an alarm or emergency stop occurs.
2. Injury prevention
Do not apply a voltage other than that specified in this manual, on each terminal. Failure to observe this
item could lead to ruptures or damage, etc.
Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or damage,
etc.
Do not mistake the polarity (+,- ). Failure to observe this item could lead to ruptures or damage, etc.
Do not touch the radiation fin on unit back face, regenerative resistor or motor, etc., or place parts
(cables, etc.) while the power is turned ON or immediately after turning the power OFF. These parts
may reach high temperatures, and can cause burns or part damage.
Structure the cooling fan on the unit back face, etc., etc so that it cannot be touched after installation.
Touching the cooling fan during operation could lead to injuries.
Take care not to suck hair, clothes, etc. into the cooling fan.
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 encoder when transporting the motor.
Do not hold the connected wires or cables when transporting the units.
Do not hold the front cover when transporting the unit. The unit could drop.
Always observe the installation directions of the units or motors.
Secure the specified distance between the units and control panel, or between the servo drive unit and
other devices.
Do not install or run a unit or motor that is damaged or missing parts.
Do not block the intake or exhaust ports of the motor provided with a cooling fan.
Do not let foreign objects enter the units or motors. In particular, if conductive objects such as screws or
metal chips, etc., or combustible materials such as oil enter, rupture or breakage could occur.
Provide adequate protection using a material such as connector for conduit to prevent screws, metallic
detritus, water and other conductive matter or oil and other combustible matter from entering the motor
through the power line lead-out port.
The units, motors and encoders 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.
(Note 1) For details, confirm each unit or motor specifications in addition.
(Note 2) -15C to +55C for linear servo motor.
When disinfectants or insecticides must be used to treat wood packaging materials, always use
methods other than fumigation (for example, apply heat treatment at the minimum wood core
temperature of 56C for a minimum duration of 30 minutes (ISPM No. 15 (2009))).
If products such as units are directly fumigated or packed with fumigated wooden materials, halogen
substances (including fluorine, chlorine, bromine and iodine) contained in fumes may contribute to the
erosion of the capacitors.
When exporting the products, make sure to comply with the laws and regulations of each country.
Do not use the products in conjunction with any components that contain halogenated flame retardants
(bromine, etc). Failure to observe this may cause the erosion of the capacitors.
Securely fix the servo motor to the machine. Insufficient fixing could lead to the servo motor slipping off
during operation.
Always install the servo motor 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 servo motor shaft end, do not apply an impact by hammering, etc. The
encoder could be damaged.
Do not apply a load exceeding the tolerable load onto the servo motor shaft. The shaft could break.
Store the motor in the package box.
When inserting the shaft into the built-in IPM spindle motor, do not heat the rotor higher than 130C. 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 built-in IPM spindle motor, direct-drive motor and linear servo motor.
Always provide a mechanical stopper on the end of the linear servo motor'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.
Install the heavy peripheral devices to the lower part in the panel and securely fix it not to be moved due
to vibration.
Environment Unit Servo motor Spindle motor
Ambient temperature
Operation: 0 to +55C (with no freezing),
Storage / Transportation: -15C to +70C (with no freezing)
Operation: 0 to +40C (with no freezing),
Storage: -15C to +70C (Note 2) (with no freezing)
Operation: 0 to +40C (with no freezing),
Storage: -20C to +65C (with no freezing)
Ambient humidity
Operation: 90%RH or less (with no dew condensation)
Storage / Transportation: 90%RH or less (with no dew condensation)
Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Operation: 90%RH or less (with no dew condensation)
Storage: 90%RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight)
With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
Altitude
Operation/Storage: 1000 meters or less above sea level,
Transportation: 13000 meters or less above sea level
Operation/Storage: 1000 meters or less above sea level,
Transportation: 10000 meters or less above sea level
Vibration/impact According to each unit or motor specification
CAUTION
(2) Wiring
Correctly and securely perform the wiring. Failure to do so could lead to abnormal operation of the
motor.
Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of the drive
unit.
Correctly connect the output side of the drive unit (terminals U, V, W). Failure to do so could lead to
abnormal operation of the motor.
When using a power regenerative power supply unit, always install an AC reactor for each power supply
unit.
In the main circuit power supply side of the unit, always install an appropriate circuit protector or
contactor for each unit. Circuit protector or contactor cannot be shared by several units.
Always connect the motor to the drive unit's output terminals (U, V, W).
Do not directly connect a commercial power supply to the servo motor. Failure to observe this could
result in a fault.
When using an inductive load such as a relay, always connect a diode as a noise measure parallel to
the load.
When using a capacitance load such as a lamp, always connect a protective resistor as a noise
measure serial to the load.
Do not reverse the direction of a diode which
connect to a DC relay for the control output
signals such as contractor and motor brake
output, etc. to suppress a surge. Connecting it
backwards could cause the drive unit to
malfunction so that signals are not output, and
emergency stop and other safety circuits are inoperable.
Do not connect/disconnect the cables connected between the units while the power is ON.
Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could cause
the cable to fall off while the power is ON.
When using a shielded cable instructed in the instruction manual, always ground the cable with a cable
clamp, etc. (Refer to "EMC Installation Guidelines")
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 combinations and
parameters before starting trial operation.
The direct-drive motor and linear servo motor does not have a stopping device such as magnetic
brakes. Install a stopping device on the machine side.
When using the linear servo motor for an unbalance axis, adjust the unbalance weight to 0 by installing
an air cylinder, etc. on the machine side. The unbalance weight disables the initial magnetic pole
adjustment.
CAUTION
RA
COM (24VDC)
COM (24VDC)
RA
Servo drive unit Servo drive unit
Control output signal
Control output signal
(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.
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 servo motor 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 servo motor 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.
Mitsubishi spindle motor is dedicated to machine tools. Do not use for other purposes.
(5) Troubleshooting
If a hazardous situation is predicted during power failure or product trouble, use a servo motor with
magnetic brakes or install an external brake mechanism.
Use a double circuit configuration that allows the
operation circuit for the magnetic brakes to be operated
even by the external emergency stop signal.
Always turn the main circuit power of the motor OFF
when an alarm occurs.
If an alarm occurs, remove the cause, and secure the
safety before resetting the alarm.
CAUTION
MBR EMG
Servo motor
Magnetic brake
Shut off with the servo motor brake control output.
Shut off with NC brake control PLC output.
24VDC
(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, immediately replace the battery. Replace the batteries while
applying the drive unit's control power.
Do not short circuit, charge, overheat, incinerate or disassemble the battery.
For after-purchase servicing of the built-in motor, only the servicing parts for MITSUBISHI encoder can
be supplied. For the motor body, prepare the spare parts at the machine manufacturers.
For maintenance, part replacement, and services in case of failures in the built-in motor (including the
encoder), take necessary actions at the machine manufacturers. For spindle drive unit, Mitsubishi can
offer the after-purchase servicing as with the general spindle drive unit.
(7) Disposal
Take the batteries and backlights for LCD, etc., off from the controller, drive unit and motor, and dispose
of them as general industrial wastes.
Do not disassemble the unit or motor.
Dispose of the battery according to local laws.
Always return the secondary side (magnet side) of the linear servo motor 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.
(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.
CAUTION
Treatment of waste
The following two laws will apply when disposing of this product. Considerations must be made to each law.
The following laws are in effect in Japan. Thus, when using this product overseas, the local laws will have a
priority. If necessary, indicate or notify these laws to the final user of the product.
(1) Requirements for "Law for Promotion of Effective Utilization of Resources"
(a) Recycle as much of this product as possible when finished with use.
(b) When recycling, often parts are sorted into steel scraps and electric parts, etc., and sold to scrap
contractors. Mitsubishi recommends sorting the product and selling the members to appropriate
contractors.
(2) Requirements for "Law for Treatment of Waste and Cleaning"
(a) Mitsubishi recommends recycling and selling the product when no longer needed according to item
(1) above. The user should make an effort to reduce waste in this manner.
(b) When disposing a product that cannot be resold, it shall be treated as a waste product.
(c) The treatment of industrial waste must be commissioned to a licensed industrial waste treatment
contractor, and appropriate measures, including a manifest control, must be taken.
(d) Batteries correspond to "primary batteries", and must be disposed of according to local disposal
laws.
Disposal
(Note) This symbol mark is for EU countries only.
This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-
users and Annex II.
Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and
components which can be recycled and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be disposed of
separately from your household waste.
If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the
battery or accumulator contains a heavy metal at a certain concentration. This will be indicated as
follows:
Hg: mercury (0,0005%), Cd: cadmium (0,002%), Pb: lead (0,004%)
In the European Union there are separate collection systems for used batteries and accumulators.
Please, dispose of batteries and accumulators correctly at your local community waste collection/
recycling centre.
Please, help us to conserve the environment we live in!
Trademarks
MELDAS, MELSEC, EZSocket, EZMotion, iQ Platform, MELSOFT, GOT, CC-Link, CC-Link/LT and CC-Link
IE are either trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/or other
countries.
Other company and product names that appear in this manual are trademarks or registered trademarks of the
respective companies.
( /Japanese)
( A)
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.
( /Korean)
(A )
.
WARRANTY Please confirm the following product warranty details before using MITSUBISHI CNC. 1. Warranty Period and Coverage
Should any fault or defect (hereafter called "failure") for which we are liable occur in this product during the warranty period, we shall provide repair services at no cost through the distributor from which the product was purchased or through a Mitsubishi Electric service provider. Note, however that this shall not apply if the customer was informed prior to purchase of the product that the product is not covered under warranty. Also note that we are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit is replaced.
[Warranty Term] The term of warranty for this product shall be twenty-four (24) months from the date of delivery of product to the end user, provided the product purchased from us in Japan is installed in Japan (but in no event longer than thirty (30) months, Including the distribution time after shipment from Mitsubishi Electric or its distributor). Note that, for the case where the product purchased from us in or outside Japan is exported and installed in any country other than where it was purchased; please refer to "2. Service in overseas countries" as will be explained. [Limitations] (1) The customer is requested to conduct an initial failure diagnosis by him/herself, as a general rule. It can also be carried
out by us or our service provider upon the customers request and the actual cost will be charged. (2) This warranty applies only when the conditions, method, environment, etc., of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual, users manual, and the caution label affixed to the product, etc.
(3) Even during the term of warranty, repair costs shall be charged to the customer in the following cases: (a) a failure caused by improper storage or handling, carelessness or negligence, etc., or a failure caused by the
customers hardware or software problem (b) a failure caused by any alteration, etc., to the product made by the customer without Mitsubishi Electrics approval (c) a failure which may be regarded as avoidable, if the customers equipment in which this product is incorporated is
equipped with a safety device required by applicable laws or has any function or structure considered to be indispensable in the light of common sense in the industry
(d) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced
(e) any replacement of consumable parts (including a battery, relay and fuse) (f) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal
fluctuation of voltage, and acts of God, including without limitation earthquake, lightning, and natural disasters (g) a failure which is unforeseeable under technologies available at the time of shipment of this product from our company (h) any other failures which we are not responsible for or which the customer acknowledges we are not responsible for
2. Service in Overseas Countries
If the customer installs the product purchased from us in his/her machine or equipment, and export it to any country other than where he/she bought it, the customer may sign a paid warranty contract with our local FA center. This falls under the case where the product purchased from us in or outside Japan is exported and installed in any country other than where it was purchased. For details please contact the distributor from which the customer purchased the product. 3. Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to: (1) Damages caused by any cause found not to be the responsibility of Mitsubishi. (2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products. (3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation
for damages to products other than Mitsubishi products. (4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
4. Changes in Product Specifications
Specifications shown in our catalogs, manuals or technical documents are subject to change without notice. 5. Product Application
(1) For the use of this product, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in the product, and a backup or fail-safe function should operate on an external system to the product when any failure or malfunction occurs.
(2) Mitsubishi CNC is designed and manufactured solely for applications to machine tools to be used for industrial purposes. Do not use this product in any applications other than those specified above, especially those which are substantially influential on the public interest or which are expected to have significant influence on human lives or properties.
Contents
1 Introduction ............................................................................................................................................ 1 - 1 1-1 Servo/spindle drive system configuration ............................................................................................................1 - 2
1-1-1 System configuration ..................................................................................................................................1 - 2 1-2 Explanation of type ..............................................................................................................................................1 - 3
1-2-1 Servo motor type.........................................................................................................................................1 - 3 1-2-2 Servo drive unit type ...................................................................................................................................1 - 4 1-2-3 Spindle motor type ......................................................................................................................................1 - 5 1-2-4 Tool spindle motor type...............................................................................................................................1 - 6 1-2-5 Spindle drive unit type.................................................................................................................................1 - 7
2 Specifications......................................................................................................................................... 2 - 1 2-1 Servo motor .........................................................................................................................................................2 - 2
2-1-1 Specifications list ........................................................................................................................................2 - 2 2-1-2 Torque characteristics.................................................................................................................................2 - 5
2-2 Spindle motor.......................................................................................................................................................2 - 7 2-2-1 Specifications..............................................................................................................................................2 - 7 2-2-2 Output characteristics ...............................................................................................................................2 - 12
2-3 Tool spindle motor .............................................................................................................................................2 - 15 2-3-1 Specifications............................................................................................................................................2 - 15 2-3-2 Output characteristics ...............................................................................................................................2 - 17
2-4 Drive unit............................................................................................................................................................2 - 19 2-4-1 Installation environment conditions...........................................................................................................2 - 19 2-4-2 Servo drive unit .........................................................................................................................................2 - 19 2-4-3 Spindle drive unit ......................................................................................................................................2 - 20 2-4-4 Unit outline dimension drawing .................................................................................................................2 - 21 2-4-5 Explanation of each part ...........................................................................................................................2 - 22
3 Function Specifications......................................................................................................................... 3 - 1 Function specifications list ........................................................................................................................................3 - 2 3-1 Base functions .....................................................................................................................................................3 - 5
3-1-1 Full closed loop control ...............................................................................................................................3 - 5 3-1-2 Position command synchronous control .....................................................................................................3 - 6 3-1-3 Speed command synchronous control........................................................................................................3 - 6 3-1-4 Distance-coded reference position control..................................................................................................3 - 7 3-1-5 Spindle's continuous position loop control ..................................................................................................3 - 7 3-1-6 Coil changeover control ..............................................................................................................................3 - 7 3-1-7 Gear changeover control ............................................................................................................................3 - 7 3-1-8 Orientation control.......................................................................................................................................3 - 7 3-1-9 Indexing control...........................................................................................................................................3 - 8 3-1-10 Synchronous tapping control ....................................................................................................................3 - 8 3-1-11 Spindle synchronous control .....................................................................................................................3 - 8 3-1-12 Spindle/C axis control ...............................................................................................................................3 - 8 3-1-13 Proximity switch orientation control...........................................................................................................3 - 8
3-2 Servo/Spindle control functions ...........................................................................................................................3 - 9 3-2-1 Torque limit function....................................................................................................................................3 - 9 3-2-2 Variable speed loop gain control.................................................................................................................3 - 9 3-2-3 Gain changeover for synchronous tapping control .....................................................................................3 - 9 3-2-4 Speed loop PID changeover control .........................................................................................................3 - 10 3-2-5 Disturbance torque observer.....................................................................................................................3 - 10 3-2-6 Smooth High Gain control (SHG control) ..................................................................................................3 - 10 3-2-7 High-speed synchronous tapping control (OMR-DD control)....................................................................3 - 10 3-2-8 Dual feedback control ...............................................................................................................................3 - 11 3-2-9 HAS control ...............................................................................................................................................3 - 11 3-2-10 Control loop gain changeover .................................................................................................................3 - 11 3-2-11 Spindle output stabilizing control ............................................................................................................3 - 12 3-2-12 High-response spindle acceleration/deceleration function......................................................................3 - 12
3-3 Compensation controls ......................................................................................................................................3 - 13 3-3-1 Jitter compensation...................................................................................................................................3 - 13 3-3-2 Notch filter .................................................................................................................................................3 - 13 3-3-3 Adaptive tracking-type notch filter .............................................................................................................3 - 13 3-3-4 Overshooting compensation .....................................................................................................................3 - 14 3-3-5 Machine end compensation control ..........................................................................................................3 - 14 3-3-6 Lost motion compensation type 2 .............................................................................................................3 - 15
3-3-7 Lost motion compensation type 3 ............................................................................................................. 3 - 15 3-3-8 Lost motion compensation type 4 ............................................................................................................. 3 - 16 3-3-9 Spindle motor temperature compensation function .................................................................................. 3 - 16
3-4 Protection function............................................................................................................................................. 3 - 17 3-4-1 Deceleration control at emergency stop ................................................................................................... 3 - 17 3-4-2 Vertical axis drop prevention/pull-up control............................................................................................. 3 - 17 3-4-3 Earth fault detection.................................................................................................................................. 3 - 17 3-4-4 Collision detection function ....................................................................................................................... 3 - 18 3-4-5 Safety observation function ...................................................................................................................... 3 - 18
3-5 Sequence functions ........................................................................................................................................... 3 - 19 3-5-1 Contactor control function......................................................................................................................... 3 - 19 3-5-2 Motor brake control function ..................................................................................................................... 3 - 19 3-5-3 External emergency stop function ............................................................................................................ 3 - 19 3-5-4 Specified speed output ............................................................................................................................. 3 - 20 3-5-5 Quick READY ON sequence .................................................................................................................... 3 - 20
3-6 Diagnosis function ............................................................................................................................................. 3 - 21 3-6-1 Monitor output function ............................................................................................................................. 3 - 21 3-6-2 Machine resonance frequency display function........................................................................................ 3 - 28 3-6-3 Machine inertia display function................................................................................................................ 3 - 28 3-6-4 Motor temperature display function .......................................................................................................... 3 - 28 3-6-5 Load monitor output function .................................................................................................................... 3 - 28 3-6-6 Open loop control function........................................................................................................................ 3 - 28
4 Characteristics ....................................................................................................................................... 4 - 1 4-1 Servo motor ......................................................................................................................................................... 4 - 2
4-1-1 Environmental conditions ........................................................................................................................... 4 - 2 4-1-2 Quakeproof level......................................................................................................................................... 4 - 2 4-1-3 Shaft characteristics ................................................................................................................................... 4 - 3 4-1-4 Machine accuracy....................................................................................................................................... 4 - 4 4-1-5 Oil / water standards................................................................................................................................... 4 - 5 4-1-6 Installation of servo motor........................................................................................................................... 4 - 6 4-1-7 Overload protection characteristics ............................................................................................................ 4 - 6 4-1-8 Magnetic brake ......................................................................................................................................... 4 - 10 4-1-9 Dynamic brake characteristics ................................................................................................................. 4 - 13
4-2 Spindle motor .................................................................................................................................................... 4 - 15 4-2-1 Environmental conditions ......................................................................................................................... 4 - 15 4-2-2 Shaft characteristics ................................................................................................................................. 4 - 15 4-2-3 Machine accuracy..................................................................................................................................... 4 - 16 4-2-4 Installation of spindle motor ...................................................................................................................... 4 - 16
4-3 Tool spindle motor ............................................................................................................................................. 4 - 17 4-3-1 Environmental conditions ......................................................................................................................... 4 - 17 4-3-2 Shaft characteristics ................................................................................................................................. 4 - 17 4-3-3 Tool spindle temperature characteristics .................................................................................................. 4 - 18
4-4 Drive unit ........................................................................................................................................................... 4 - 19 4-4-1 Environmental conditions ......................................................................................................................... 4 - 19 4-4-2 Heating value............................................................................................................................................ 4 - 19
5 Dedicated Options ................................................................................................................................. 5 - 1 5-1 Servo options....................................................................................................................................................... 5 - 2
5-1-1 Battery option.............................................................................................................................................. 5 - 4 5-1-2 Ball screw side encoder (OSA105ET2A).................................................................................................. 5 - 10 5-1-3 Machine side encoder............................................................................................................................... 5 - 12
5-2 Spindle options .................................................................................................................................................. 5 - 16 5-2-1 Spindle side ABZ pulse output encoder (OSE-1024 Series) .................................................................... 5 - 17 5-2-2 Spindle side PLG serial output encoder (TS5690, MU1606 Series)......................................................... 5 - 19 5-2-3 Spindle side accuracy serial output encoder (ERM280, MPCI Series)..................................................... 5 - 23 5-2-4 Machine side encoder............................................................................................................................... 5 - 23
5-3 Encoder interface unit........................................................................................................................................ 5 - 24 5-3-1 Serial output interface unit for ABZ analog encoder MDS-B-HR.............................................................. 5 - 24 5-3-2 Pulse output interface unit for ABZ analog encoder IBV Series (Other manufacturer's product) ............. 5 - 27 5-3-3 Serial output interface unit for ABZ analog encoder EIB192M (Other manufacturer's product) ............... 5 - 28 5-3-4 Serial output interface unit for ABZ analog encoder EIB392M (Other manufacturer's product) ............... 5 - 29 5-3-5 Serial output interface unit for ABZ analog encoder ADB-20J Series (Other manufacturer's product) .... 5 - 30
5-4 Drive unit option................................................................................................................................................. 5 - 31 5-4-1 Optical communication repeater unit (FCU7-EX022) ............................................................................... 5 - 31 5-4-2 Regenerative option.................................................................................................................................. 5 - 34
5-5 Cables and connectors ......................................................................................................................................5 - 45 5-5-1 Cable connection diagram ........................................................................................................................5 - 45 5-5-2 List of cables and connectors ...................................................................................................................5 - 46 5-5-3 Optical communication cable specifications .............................................................................................5 - 57
6 Specifications of Peripheral Devices ................................................................................................... 6 - 1 6-1 Selection of wire...................................................................................................................................................6 - 2
6-1-1 Example of wires by unit .............................................................................................................................6 - 2 6-2 Selection of circuit protector and contactor..........................................................................................................6 - 4
6-2-1 Selection of circuit protector........................................................................................................................6 - 4 6-2-2 Selection of contactor .................................................................................................................................6 - 5
6-3 Selection of earth leakage breaker ......................................................................................................................6 - 6 6-4 Branch-circuit protection (for control power supply).............................................................................................6 - 7
6-4-1 Circuit protector...........................................................................................................................................6 - 7 6-4-2 Fuse protection ...........................................................................................................................................6 - 7
6-5 Noise filter ............................................................................................................................................................6 - 8 6-6 Surge absorber ....................................................................................................................................................6 - 9 6-7 Relay..................................................................................................................................................................6 - 10
7 Selection ................................................................................................................................................. 7 - 1 7-1 Selection of the servo motor ................................................................................................................................7 - 2
7-1-1 Outline.........................................................................................................................................................7 - 2 7-1-2 Selection of servo motor capacity ...............................................................................................................7 - 3 7-1-3 Motor shaft conversion load torque...........................................................................................................7 - 11 7-1-4 Expressions for load inertia calculation.....................................................................................................7 - 12
7-2 Selection of the spindle motor............................................................................................................................7 - 13 7-3 Selection of the regenerative resistor ................................................................................................................7 - 14
7-3-1 Regeneration methods..............................................................................................................................7 - 14 7-3-2 Calculation of the regenerative energy .....................................................................................................7 - 15 7-3-3 Calculation of the positioning frequency ...................................................................................................7 - 17
Appendix 1 Cable and Connector Specifications .................................................................Appendix 1 - 1 Appendix 1-1 Selection of cable.................................................................................................................Appendix 1 - 2
Appendix 1-1-1 Cable wire and assembly ............................................................................................Appendix 1 - 2 Appendix 1-2 Cable connection diagram ...................................................................................................Appendix 1 - 5
Appendix 1-2-1 Battery cable ...............................................................................................................Appendix 1 - 5 Appendix 1-2-2 Optical communication repeater unit cable.................................................................Appendix 1 - 6 Appendix 1-2-3 Servo / tool spindle encoder cable..............................................................................Appendix 1 - 7 Appendix 1-2-4 Spindle encoder cable ..............................................................................................Appendix 1 - 11
Appendix 1-3 Connector outline dimension drawings ..............................................................................Appendix 1 - 13 Appendix 1-3-1 Connector for drive unit.............................................................................................Appendix 1 - 13 Appendix 1-3-2 Connector for servo and tool spindle ........................................................................Appendix 1 - 17 Appendix 1-3-3 Connector for spindle................................................................................................Appendix 1 - 21
Appendix 2 Restrictions for Lithium Batteries......................................................................Appendix 2 - 1 Appendix 2-1 Restriction for Packing .........................................................................................................Appendix 2 - 2
Appendix 2-1-1 Target Products ..........................................................................................................Appendix 2 - 2 Appendix 2-1-2 Handling by User ........................................................................................................Appendix 2 - 3 Appendix 2-1-3 Reference ...................................................................................................................Appendix 2 - 3
Appendix 2-2 Products Information Data Sheet (ER Battery) ....................................................................Appendix 2 - 4 Appendix 2-3 Forbiddance of Transporting Lithium Battery by Passenger Aircraft Provided in the Code of Federal Regulation .................................................................................................Appendix 2 - 6 Appendix 2-4 California Code of Regulation "Best Management Practices for Perchlorate Materials" .....Appendix 2 - 6 Appendix 2-5 Restriction Related to EU Battery Directive .........................................................................Appendix 2 - 7
Appendix 2-5-1 Important Notes ..........................................................................................................Appendix 2 - 7 Appendix 2-5-2 Information for End-user .............................................................................................Appendix 2 - 7
Appendix 3 EC Declaration of Conformity.............................................................................Appendix 3 - 1 Appendix 3-1 Compliance to EC Directives ...............................................................................................Appendix 3 - 2
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard ............................Appendix 4 - 1 Appendix 4-1 Operation Surrounding Air Ambient Temperature ...............................................................Appendix 4 - 2 Appendix 4-2 Notes for AC Servo/Spindle System....................................................................................Appendix 4 - 2
Appendix 4-2-1 Warning.......................................................................................................................Appendix 4 - 2 Appendix 4-2-2 Installation...................................................................................................................Appendix 4 - 2 Appendix 4-2-3 Short-circuit Ratings (SCCR) ......................................................................................Appendix 4 - 2 Appendix 4-2-4 Over-temperature Protection for Motor .......................................................................Appendix 4 - 2 Appendix 4-2-5 Peripheral Devices......................................................................................................Appendix 4 - 3
Appendix 4-2-6 Field Wiring Reference Table for Input and Output (Power Wiring) ........................... Appendix 4 - 5 Appendix 4-2-7 Motor Over Load Protection ..................................................................................... Appendix 4 - 11 Appendix 4-2-8 Flange of Servo Motor .............................................................................................. Appendix 4 - 12 Appendix 4-2-9 Spindle Drive/Motor Combinations ........................................................................... Appendix 4 - 12 Appendix 4-2-10 Servo Drive/Motor Combinations............................................................................ Appendix 4 - 14
Appendix 4-3 AC Servo/Spindle System Connection .............................................................................. Appendix 4 - 15 Appendix 4-3-1 MDS-D, D2/DH, DH2/DM, DM2-Vx/SP Series ......................................................... Appendix 4 - 15 Appendix 4-3-2 MDS-D/DH-CV, D/D2-Vx/SPx, DH/DH2-Vx/SPx, DM/DM2-V3 Series with MDS-D/DH-PFU .............................................................................................. Appendix 4 - 16 Appendix 4-3-3 MDS-D2/DH2-CV, D/D2-Vx/SPx, DH/DH2-Vx/SPx, DM/DM2-V3 Series with MDS-D/DH-PFU .............................................................................................. Appendix 4 - 16 Appendix 4-3-4 MDS-D-SVJ3/SPJ3/MDS-DJ Series......................................................................... Appendix 4 - 17 Appendix 4-3-5 MDS-DM, DM2-SPV Series...................................................................................... Appendix 4 - 18
Outline for MDS-D-SVJ3/SPJ3 Series Instruction Manual (IB-1500193-D)
1 Installation 1-1 Installation of servomotor
1-1-1 Environmental conditions 1-1-2 Quakeproof level 1-1-3 Cautions for mounting load (prevention of impact
on shaft) 1-1-4 Installation direction 1-1-5 Shaft characteristics 1-1-6 Machine accuracy 1-1-7 Coupling with the load 1-1-8 Oil/water standards 1-1-9 Installation of servomotor 1-1-10 Cable stress
1-2 Installation of spindle motor 1-2-1 Environmental conditions 1-2-2 Shaft characteristics
1-3 Installation of tool spindle motor 1-3-1 Environmental conditions 1-3-2 Shaft characteristics
1-4 Installation of the drive unit 1-4-1 Environmental conditions 1-4-2 Installation direction and clearance 1-4-3 Prevention of entering of foreign matter 1-4-4 Heating value 1-4-5 Heat radiation countermeasures
1-5 Installation of the spindle detector 1-5-1 Spindle side ABZ pulse output detector (OSE-
1024 Series) 1-5-2 Spindle side PLG serial output detector (TS5690,
MU1606 Series) 1-5-3 Installation accuracy diagnosis for PLG detector
1-6 Noise measures
2 Wiring and Connection 2-1 Part system connection diagram 2-2 Main circuit terminal block/control circuit connector
2-2-1 Names and applications of main circuit terminal block signals and control circuit con- nectors
2-2-2 Connector pin assignment 2-2-3 Main circuit connector (CNP1,CNP2,CNP3) wir-
ing method 2-3 NC and drive unit connection 2-4 Connecting with optical communication repeater unit 2-5 Motor and detector connection
2-5-1 Connection of the servomotor 2-5-2 Connection of the full-closed loop system 2-5-3 Connection of the spindle motor 2-5-4 Connection of the tool spindle motor
2-6 Connection of power supply 2-6-1 Power supply input connection 2-6-2 Connection of the grounding cable
2-7 Connection of regenerative resistor 2-7-1 Standard built-in regenerative resistor (Only for
MDS-D-SVJ3) 2-7-2 External option regenerative resistor
2-8 Wiring of the peripheral control 2-8-1 Wiring of the Input/output circuit 2-8-2 Wiring of the contactor control 2-8-3 Wiring of the motor magnetic brake (MDS-D-
SVJ3) 2-8-4 Wiring of an external emergency stop
2-8-5 Safety observation function 2-8-6 Specifications of proximity switch
3 Setup 3-1 Initial setup
3-1-1 Setting the rotary switch 3-1-2 Setting DIP switch 3-1-3 Transition of LED display after power is turned
ON 3-2 Setting the initial parameters for the servo drive unit
3-2-1 Setting of servo specification parameters 3-2-2 Setting of machine side detector 3-2-3 List of standard parameters for each servomotor 3-2-4 Servo parameters
3-3 Setting the initial parameters for the spindle drive unit 3-3-1 Setting of parameters related to the spindle 3-3-2 List of standard parameters for each spindle mo-
tor 3-3-3 Spindle specification parameters 3-3-4 Spindle parameters
4 Servo Adjustment 4-1 D/A output specifications for servo drive unit
4-1-1 D/A output specifications 4-1-2 Output data settings 4-1-3 Setting the output magnification
4-2 Servo adjustment procedure 4-3 Gain adjustment
4-3-1 Current loop gain 4-3-2 Speed loop gain 4-3-3 Position loop gain
4-4 Characteristics improvement 4-4-1 Optimal adjustment of cycle time 4-4-2 Vibration suppression measures 4-4-3 Improving the cutting surface precision 4-4-4 Improvement of characteristics during accelera-
tion/deceleration 4-4-5 Improvement of protrusion at quadrant change-
over 4-4-6 Improvement of overshooting 4-4-7 Improvement of the interpolation control path
4-5 Adjustment during full closed loop control 4-5-1 Outline 4-5-2 Speed loop delay compensation 4-5-3 Dual feedback control
4-6 Settings for emergency stop 4-6-1 Deceleration control 4-6-2 Vertical axis drop prevention control 4-6-3 Vertical axis pull-up control
4-7 Protective functions 4-7-1 Overload detection 4-7-2 Excessive error detection 4-7-3 Collision detection function
4-8 Servo control signal 4-8-1 Servo control input (NC to Servo) 4-8-2 Servo control output (Servo to NC)
5 Spindle Adjustment 5-1 D/A output specifications for spindle drive unit
5-1-1 D/A output specifications 5-1-2 Setting the output data 5-1-3 Setting the output magnification
5-2 Adjustment procedures for each control 5-2-1 Basic adjustments 5-2-2 Gain adjustment 5-2-3 Adjusting the acceleration/deceleration operation 5-2-4 Orientation adjustment
5-2-5 Synchronous tapping adjustment 5-2-6 Spindle C axis adjustment (For lathe system) 5-2-7 Spindle synchronization adjustment (For lathe
system) 5-2-8 Deceleration coil changeover valid function by
emergency stop 5-2-9 High-response acceleration/deceleration function 5-2-10 Spindle cutting withstand level improvement
5-3 Settings for emergency stop 5-3-1 Deceleration control
5-4 Spindle control signal 5-4-1 Spindle control input (NC to Spindle) 5-4-2 Spindle control output (Spindle to NC)
6 Troubleshooting 6-1 Points of caution and confirmation
6-1-1 LED display when alarm or warning occurs 6-2 Protective functions list of units
6-2-1 List of alarms 6-2-2 List of warnings
6-3 Troubleshooting 6-3-1 Troubleshooting at power ON 6-3-2 Troubleshooting for each alarm No. 6-3-3 Troubleshooting for each warning No. 6-3-4 Parameter numbers during initial parameter error 6-3-5 Troubleshooting the spindle system when there is
no alarm or warning
7 Maintenance 7-1 Periodic inspections
7-1-1 Inspections 7-1-2 Cleaning of spindle motor
7-2 Service parts 7-3 Adding and replacing units and parts
7-3-1 Replacing the drive unit 7-3-2 Replacing the unit fan 7-3-3 Replacing the battery
Appendix 1 Cable and Connector Specifications Appendix 1-1 Selection of cable
Appendix 1-1-1 Cable wire and assembly Appendix 1-2 Cable connection diagram
Appendix 1-2-1 Battery cable Appendix 1-2-2 Optical communication repeater unit
cable Appendix 1-2-3 Servo / tool spindle detector cable Appendix 1-2-4 Spindle detector cable
Appendix 1-3 Connector outline dimension drawings Appendix 1-3-1 Optical communication cable Appendix 1-3-2 DI/O or maintenance connector Appendix 1-3-3 Servo detector connector Appendix 1-3-4 Brake connector Appendix 1-3-5 Power connector Appendix 1-3-6 Drive unit side main circuit connector Appendix 1-3-7 Spindle detector connector
Appendix 2 Cable and Connector Assembly Appendix 2-1 CM10-SPxxS-x(D6) plug connector Appendix 2-2 CM10-APxxS-x(D6) angle plug connector Appendix 2-3 CM10-SP-CV reinforcing cover for straight
plug Appendix 2-4 CM10-AP-D-CV reinforcing cover for angle
plug Appendix 2-5 1747464-1 plug connector
Appendix 2-5-1 Applicable products Appendix 2-5-2 Applicable cable Appendix 2-5-3 Related documents
Appendix 2-5-4 Assembly procedure
Appendix 3 Precautions in Installing Spindle Motor Appendix 3-1 Precautions in transporting motor Appendix 3-2 Precautions in selecting motor fittings Appendix 3-3 Precautions in mounting fittings Appendix 3-4 Precautions in coupling shafts Appendix 3-5 Precautions in installing motor in machine Appendix 3-6 Other Precautions Appendix 3-7 Example of unbalance correction Appendix 3-8 Precautions in balancing of motor with key
Appendix 4 Compliance to EC Directives Appendix 4-1 Compliance to EC Directives
Appendix 4-1-1 European EC Directives Appendix 4-1-2 Cautions for EC Directive compliance
Appendix 5 EMC Installation Guidelines Appendix 5-1 Introduction Appendix 5-2 EMC instructions Appendix 5-3 EMC measures Appendix 5-4 Measures for panel structure
Appendix 5-4-1 Measures for control panel unit Appendix 5-4-2 Measures for door Appendix 5-4-3 Measures for operation board panel Appendix 5-4-4 Shielding of the power supply input
section Appendix 5-5 Measures for various cables
Appendix 5-5-1 Measures for wiring in panel Appendix 5-5-2 Measures for shield treatment Appendix 5-5-3 Servo/spindle motor power cable Appendix 5-5-4 Servo/spindle motor feedback cable
Appendix 5-6 EMC countermeasure parts Appendix 5-6-1 Shield clamp fitting Appendix 5-6-2 Ferrite core Appendix 5-6-3 Power line filter Appendix 5-6-4 Surge protector
Appendix 6 EC Declaration of Conformity Appendix 6-1 Compliance to EC Directives
Appendix 6-1-1 Low voltage equipment
Appendix 7 Higher Harmonic Suppression Measure Guidelines
Appendix 7-1 Higher harmonic suppression measure guidelines
Appendix 7-1-1 Calculating the equivalent capacity of the higher harmonic generator
1 - 1
1
Introduction
1 Introduction
MITSUBISHI CNC
1 - 2
1-1 Servo/spindle drive system configuration 1-1-1 System configuration
L1 L2 L3
L11
L21
L1 L2 L3 L1 L2 L3
L11
L21
V U W
C
P
CN2
CN3
CN1B
CN1A
BAT
C N
P 1
C N
P 2
C N
P 3
C N
P 1
C N
P 2
C N
P 3
P
C
W V U
(MDS SVJ3) -D- (MDS-D-SPJ3)
CN1A
CN2
CN3
Linear scale (in full closed loop control) (Note)
Prepared by user
Servo motor Spindle motor
Spindle side encoder
Contactor (Note)
Prepared by user
From NC
Circuit protector (Note)
Prepared by user
Circuit protector
or
fuse
(Note) Prepared by user
Servo drive unit
Option
Regene- rative
resistor
Contactor (Note)
Prepared by user
Circuit protector (Note)
Prepared by user
Spindle drive unit
3-phase 200 to 230VAC
Regene- rative
resistor
Circuit protector
or
fuse
(Note) Prepared by user
Mitsubishi serial signal output
MDS-D-SVJ3/SPJ3 Series Specifications Manual
1-2 Explanation of type
1 - 3
1-2 Explanation of type 1-2-1 Servo motor type
< HF Series >
< HF-KP Series >
Serial No. Rated rotation speed
Motor type Rated output
Motor rating nameplate
Date of manufacture 109:September, 2010 13Y:November, 2013 (X:October,Y:November,Z:December)
(1) Rated output Maximum rotation speed (3) Shaft end structure (4) Encoder
Sy mbol Rated output Maximum
rotation speed
Flange size
(mm) Sy mbol Shaf t end structure Sy mbol Ty pe Detection method Resolution
75 0.75 kW 5000 r/min 90 SQ. S Straight A48 OSA18-100 260,000 p/rev 105 1.0 kW 5000 r/min 90 SQ. T Taper A51 OSA105S5A 1,000,000 p/rev 54 0.5 kW 4000 r/min 130 SQ. (Note) "Taper" is available
104 1.0 kW 4000 r/min 130 SQ. for the motor w hose f lange 154 1.5 kW 4000 r/min 130 SQ. size is 90 SQ. mm or 130 SQ. mm. 224 2.2 kW 4000 r/min 130 SQ. 204 2.0 kW 4000 r/min 176 SQ. (2) Magnetic brakes 354 3.5 kW 3500 r/min 176 SQ. Sy mbol Magnetic brake
123 1.2 kW 3000 r/min 130 SQ. None None 223 2.2 kW 3000 r/min 130 SQ. B With magnetic brakes 303 3.0 kW 3000 r/min 176 SQ. 142 1.4 kW 2000 r/min 130 SQ. 302 3.0 kW 2000 r/min 176 SQ.
Absolute position
HF (1) (2) (3) - (4)
Rated output Maximum rotation speed (1) Magnetic brake
Symbol Rated output Maximum
rotation speed Flange size
(mm) Symbol Magnetic brake
13 0.1 kW 6000 r/min 40 SQ. None None
B With magnetic brakes
(Note) The motor-end encoder has absolute position specif ications, but is not equipped w ith the capacitor for data backup. Thus, absolute position is lost immediately after disconnection of the encoder cable.
HF-KP 13 (1) J-S17
(1) Rated output Maximum rotation speed (2) Magnetic brake
Symbol Rated output Maximum rotation
Flange size (mm)
Symbol Magnetic brake
23 0.2 kW 6000 r/min 60 SQ. None None 43 0.4 kW 6000 r/min 60 SQ. B With magnetic brake 73 0.75 kW 6000 r/min 80 SQ.
HF-KP (1) JW04-S6(2)
1 Introduction
MITSUBISHI CNC
1 - 4
1-2-2 Servo drive unit type
TOKYO 100-8310, JAPAN MADEINJAPAN
MODEL SERVO DRIVE UNIT
MDS-D-SVJ3-03NA
|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
S/W SERIAL# DATE
Type
Input/output conditions
Software No.
Output
Serial No.
Manual No.
Rating nameplate
Date of manufacture (Year-Month)
Applicable standard
MDS-D-SVJ3-
75 105 54 104 154 224 204 354 123 223 303 142 302 13 23 43 73
Stall torque
(Nm) Rated output
03NA 40mm
04NA 40mm
07NA 60mm
10NA 90mm
20NA 90mm
35NA 90mm
Indicates the compatible motor for each servo drive unit.
3.5kW
2.4
0.3kW
0.4kW
0.75kW
1.0kW
2.0kW
22.5 11.0 20.0 0.32 0.64 1.39.0 12.0 13.7 22.5 7.0 12.0Unit width 2.0 3.0 2.9 5.9
(1)
(1) Unit Type MDS-D-SVJ3-
Compatible motor type
HF HF-KP
MDS-D-SVJ3/SPJ3 Series Specifications Manual
1-2 Explanation of type
1 - 5
1-2-3 Spindle motor type
Rating nameplate
< SJ-D Series >
< SJ-V/VL Series >
Date of manufacture (Year-Month)
Serial No.
Motor type
Continuous rated output
Short time rated output
Frame No.
(1) Motor series (4) Specif ication code (6) Option (Note)
Symbol Motor Series Indicates a specif ication code (01 to 99). Symbol Option
None Standard (3) Maximum rotation speed None Standard (f lange type, w ithout oil seal, w ithout key,
J Compact & lightw eight Indicates the hundreds place coil changeover unavailable, air-cooling, solid shaft)
specif ications and higher order digits. C With key
L Low -inertia J Oil seal
specif ications (2) Short time (or %ED) rated output X Reversed cooling air Symbol Short-time rated output (Note) If more than one option is included,
3.7 3.7kW the symbols are in alphabetical order.
5.5 5.5kW (5) Encoder
7.5 7.5kW Symbol Type
11 11kW None Type 1
T Type 2
(Note) This explains the model name system of spindle motors, but does not mean all the combinations are available.
(1) (2) (4)(3)SJ-D / - (5) (6)-
(4) Short time rated output
(1) Motor series (For normal specification) (6) Special specification
Symbol Motor series Symbol Short time rated output Symbol Special specification
V Medium-inertia series 0.75 0.75 kW None Standard
VL Low-inertia series 1.5 1.5 kW Z High-speed bearing
2.2 2.2 kW FZ High-speed bearing front-lock
3.7 3.7 kW
5.5 5.5 kW (5) Specification code
7.5 7.5 kW The SJ-V/VL Series is indicated
11 11 kW w ith a specification code (01 to 99).
(3) Shaft configuration
Symbol Axis configuration
None Standard
S Hollow shaft
(2) Coil changeover
Symbol Coil changeover
None Unavailable
(Note) This explains the model name system of spindle motors, but does not mean all the combinations are available.
SJ- -(1) (6)(5) T(2) (4)(3)
1 Introduction
MITSUBISHI CNC
1 - 6
1-2-4 Tool spindle motor type
Rating nameplate
< HF-KP Series >
< HF Series >
< Combination with spindle drive unit >
Serial No. Rated rotation speed
Motor type Rated output
Motor rating nameplate
Date of manufacture 109:September, 2010 13Y:November, 2013 (X:October,Y:November,Z:December)
(1) Rated output and maximum rotation spee (2) Option
Symbol Rated output Maximum
rotation speed Flange size (mm) Symbol Option
46 0.4 kW 6000 r/min 60 SQ. None Without keyw ay
56 0.5 kW 6000 r/min 60 SQ. K With keyw ay (w ith key)
96 0.9 kW 6000 r/min 80 SQ.
(1) (2) W09JHF-KP
(1) Rated output Maximum rotation speed (2) Shaft end structure (3) Encoder
Symbol Rated output Maximum
rotation speed Flange size
(mm) Symbol Shaft end structure Symbol Type Detection method Resolution
75 0.75 kW 4000 r/min 90 SQ. S Straight A48 OSA18-100 Absolute position 260,000 p/rev
105 1.0 kW 4000 r/min 90 SQ.
54 0.5 kW 3000 r/min 130 SQ.
104 1.0 kW 3000 r/min 130 SQ.
154 1.5 kW 3000 r/min 130 SQ.
224 2.2 kW 3000 r/min 130 SQ.
204 2.0 kW 3000 r/min 176 SQ.
(Note) Encoder A51 can not beused w ith the tool spindle motor.
HF (1) (2) - (3)
75 105 54 104 154 224 204 123 223 303 46 56 96
Stall torque
(Nm) Rated output
075NA 60mm
22NA
37NA
55NA
75NA
110NA 172mm
Indicates the compatible motor for each spindle drive unit.
Unit Type MDS-D-SPJ3-
Unit width 1.8
Compatible motor type
HF
5.7 14.310.54.8
90mm
6.47.02.4
130mm
1.6 3.2
7.5kW
11.0kW
0.75kW
2.2kW
3.7kW
5.5kW
HF-KP
0.64 0.8 1.4
MDS-D-SVJ3/SPJ3 Series Specifications Manual
1-2 Explanation of type
1 - 7
1-2-5 Spindle drive unit type
TOKYO 100-8310, JAPAN MADEINJAPAN
MODEL
|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
SPINDLE DRIVE UNIT MDS-D-SPJ3-37NA
S/W SERIAL# DATE
Type
Input/output conditions
Software No.
Output
Serial No.
Manual No.
Rating nameplate
Date of manufacture (Year-Month)
Applicable standard
(1) Capacity Symbol Rated output Unit w idth
075NA 0.75kW 60mm w ide 22NA 2.2kW 37NA 3.7kW 55NA 5.5kW 75NA 7.5kW 110NA 11.0kW 172mm w ide
90mm w ide
130mm w ide
(1)MDS-D-SPJ3-
1 Introduction
MITSUBISHI CNC
1 - 8
2 - 1
2
Specifications
2 Specifications
MITSUBISHI CNC
2 - 2
2-1 Servo motor 2-1-1 Specifications list
< HF Series >
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the
values when combined with the drive unit.
(Note 2) The total length will be 3.5mm longer when using an A51 encoder.
Servo motor type
HF Series
ABS specifications: HF -A51 / -A48
HF75 HF105 HF54 HF104 HF154 HF224 HF204 HF354
Compatible servo drive unit type
MDS-D-SVJ3- 07NA 07NA 07NA 10NA 20NA 20NA 20NA 35NA
Continuous characteristics
Rated output [kW] 0.75 1.0 0.5 1.0 1.5 2.2 2.0 3.5
Rated current [A] 3.1 3.7 2.0 3.9 5.6 8.6 6.8 12
Rated torque [Nm] 1.8 2.4 1.6 3.2 4.8 7.0 6.4 11.1
Stall current [A] 3.2 4.6 3.2 6.6 11 15 15 22
Stall torque [Nm] 2.0 3.0 2.9 5.9 9.0 12.0 13.7 22.5
Power facility capacity [kVA] 1.5 2.0 1.1 2.0 2.8 4.1 3.7 6.4
Rated rotation speed [r/min] 4000 3000
Maximum rotation speed [r/min] 5000 4000 3500
Maximum current [A] 14.0 15.5 16.8 29.0 52.0 57.0 52.0 64.0
Maximum torque [Nm] 8.0 11.0 13.0 23.3 42.0 46.5 42.0 65.0
Power rate at continuous rated torque [kW/s]
12.3 11.2 4.1 8.4 12.7 20.7 10.6 16.5
Motor inertia [10-4kgm2] 2.6 5.1 6.1 11.9 17.8 23.7 38.3 75.0
Motor inertia with brake [10-4kgm2] 2.8 5.3 8.3 14.1 20.0 25.9 48.0 84.7
Maximum motor shaft conversion load inertia ratio
High-speed, high-accuracy machine: 3 times or less of motor inertia General machine tool (interpolation axis): 5 times or less of motor inertia General machine (non-interpolation axis): 7 times or less of motor inertia
Motor side encoder Resolution per motor revolution
A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev
Degree of protection IP67 (The shaft-through portion is excluded.))
Environment
Ambient temperature Operation: 0 to 40 (with no freezing),
Storage: -15 to 70 (with no freezing)
Ambient humidity Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude Operation: 1000 meters or less above sea level, Storage: 10000 meters or less above sea level
Vibration X,Y:24.5m/s2 (2.5G) X:24.5m/s2 (2.5G)
Y:29.4m/s2 (3G)
Flange size [mm] 90 SQ. 90 SQ. 130 SQ. 130 SQ. 130 SQ. 130 SQ. 176 SQ. 176 SQ.
Total length (excluding shaft) [mm] (Note 2)
126.5 162.5 118.5 140.5 162.5 184.5 143.5 183.5
Flange fitting diameter [mm] 80 80 110 110 110 110 114.3 114.3
Shaft diameter [mm] 14 14 24 24 24 24 35 35
Mass Without / with brake [kg] 2.5/3.9 4.3/5.7 4.8/6.7 6.5/8.5 8.3/10.3 10.0/12.0 12.0/18.0 19.0/25.0
Heat-resistant class 155 (F)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-1 Servo motor
2 - 3
< HF Series >
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the
values when combined with the drive unit.
(Note 2) The total length will be 3.5mm longer when using an A51encoder.
Servo motor type
HF Series
ABS specifications: HF -A51 / -A48
HF123 HF223 HF303 HF142 HF302
Compatible servo drive unit type
MDS-D-SVJ3- 10NA 10NA 20NA 10NA 10NA
Continuous characteristics
Rated output [kW] 1.2 2.2 3.0 1.4 3.0
Rated current [A] 5.2 9.0 11 5.2 11
Rated torque [Nm] 5.7 10.5 14.3 6.7 14.3
Stall current [A] 6.4 11 16 6.4 11
Stall torque [Nm] 7.0 12.0 22.5 11.0 20.0
Power facility capacity [kVA] 2.3 4.1 5.5 2.7 5.5
Rated rotation speed [r/min] 2000 2000
Maximum rotation speed [r/min] 3000 2000
Maximum current [A] 15.5 29.0 48.0 15.5 29.0
Maximum torque [Nm] 17.0 32.0 64.0 26.5 50.0
Power rate at continuous rated torque [kW/s]
27.3 46.5 27.3 25.2 27.3
Motor inertia [10-4kgm2] 11.9 23.7 75.0 17.8 75.0
Motor inertia with brake [10-4kgm2] 14.1 25.9 84.7 20.0 84.7
Maximum motor shaft conversion load inertia ratio
High-speed, high-accuracy machine: 3 times or less of motor inertia General machine tool (interpolation axis): 5 times or less of motor inertia General machine (non-interpolation axis): 7 times or less of motor inertia
Motor side encoder Resolution per motor revolution
A51: 1,000,000 pulse/rev, A48: 260,000 pulse/rev
Degree of protection P67 (The shaft-through portion is excluded.)
Environment
Ambient temperature Operation: 0 to 40 (with no freezing),
Storage: -15 to 70 (with no freezing)
Ambient humidity Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude Operation: 1000 meters or less above sea level, Storage: 10000 meters or less above sea level
Vibration X,Y:24.5m/s2 (2.5G) X:24.5m/s2 (2.5G)
Y:29.4m/s2 (3G) X,Y:24.5m/s2 (2.5G)
X:24.5m/s2 (2.5G)
Y:29.4m/s2 (3G)
Flange size [mm] 130 SQ. 130 SQ. 176 SQ. 130 SQ. 176 SQ.
Total length (excluding shaft) [mm] (Note 2)
140.5 184.5 183.5 162.5 183.5
Flange fitting diameter [mm] 110 110 114.3 110 114.3
Shaft diameter [mm] 24 24 35 24 35
Mass Without / with brake [kg] 6.5/8.5 10.0/12.0 19.0/25.0 8.3/11 19.0/25.0
Heat-resistant class 155 (F)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 Specifications
MITSUBISHI CNC
2 - 4
< HF-KP Series >
(Note 1) The above characteristics values are representative values. The maximum current and maximum torque are the
values when combined with the drive unit.
(Note 2) HF-KP13J-S17 is an absolute position specification motor, however this motor is not equipped with a capacitor for
data backup.Thus the absolute position is lost as soon as the encoder cable is disconnected.
(Note 3) The outside dimensions of the encoder part are 50 sq. mm.
Servo motor type
HF-KP Series
Absolute position standard
HF-KP13J-S17 HF-KP23JW04-S6 HF-KP43JW04-S6 HF-KP73JW04-S6
Compatible servo drive unit type
MDS-D-SVJ3- 03NA 03NA 04NA 07NA
Continuous characteristics
Rated output [kW] 0.1 0.2 0.4 0.75
Rated current [A] 0.8 1.4 2.9 5.2
Rated torque [Nm] 0.32 0.64 1.3 2.4
Stall current [A] 0.8 1.4 2.9 5.2
Stall torque [Nm] 0.32 0.64 1.3 2.4
Power facility capacity [kVA] 0.4 0.6 0.9 1.5
Rated rotation speed [r/min] 3000
Maximum rotation speed [r/min] 6000
Maximum current [A] 2.31 4.3 8.5 15.5
Maximum torque [Nm] 0.95 1.9 3.8 7.2
Power rate at continuous rated torque [kW/s]
11.5 16.9 38.6 39.9
Motor inertia [10-4kgm2] 0.088 0.23 0.42 1.43
Motor inertia with brake [10-4kgm2] 0.090 0.31 0.50 1.63
Maximum motor shaft conversion load inertia ratio
General machine (non-interpolation axis): 15 times or less of motor inertia
Motor side encoder Resolution per motor revolution: 260,000 pulse/rev (Note2)
Degree of protection IP65 (The shaft-through portion is excluded.)
Environment
Ambient temperature Operation: 0 to 40 (with no freezing),
Storage: -15 to 70 (with no freezing)
Ambient humidity Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude Operation: 1000 meters or less above sea level, Storage: 10000 meters or less above sea level
Vibration X,Y: 49m/s2 (5G)
Flange size [mm] 40 SQ. (Note4) 60 SQ. 60 SQ. 80 SQ.
Total length (excluding shaft) [mm] 92.8 98 119.9 134.2
Flange fitting diameter [mm] 30 50 50 70
Shaft diameter [mm] 8 14 14 19
Mass Without / with brake [kg] 0.66/0.96 1.2/1.8 1.7/2.3 2.9/4.1
Heat-resistant class 130 (B)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-1 Servo motor
2 - 5
2-1-2 Torque characteristics
< HF Series >
(Note) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is
200VAC or less, the short time operation range is limited.
[ HF75 ] [ HF105 ]
[ HF54 ] [ HF104 ] [ HF154 ]
[ HF224 ] [ HF204 ] [ HF354 ]
[ HF123 ] [ HF223 ] [ HF303 ]
0 2000 5000 0
2.5
5
7.5
10
4000
Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range 0
3
6
9
12
0 2000 50004000 Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
0 2000 4000 0
3
9
12
15
6
Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
0 2000 4000 0
5
20
25
15
10
Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
0 000 4000 0
10
40
50
30
20
2 Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
To rq
ue [N
m ]
0 2000 4000 0
10
20
40
30
50
Rotation speed [r/min]
Short time operation range
Continuous operation range
0 2000 4000 0
10
20
40
30
50
Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
0 1500 3500 0
20
40
80
60
3000 Rotation speed [r/min]
To rq
ue [N
m ]
Continuous operation range
Short time operation range
0 1000 3000 0
5
10
15
20
To rq
ue [N
m ]
2000
Short time operation range
Rotation speed [r/min]
Continuous operation range
To rq
ue [
N m
]
0 1000 3000 0
10
20
30
40
2000
Short time operation range
Rotation speed [r/min]
Continuous operation range
To rq
ue [N
Short time operation range
Rotation speed [r/min]
Continuous operation range
20
40
60
80
1000 300020000 0
2 Specifications
MITSUBISHI CNC
2 - 6
< HF Series >
< HF-KP Series >
(Note) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is
200VAC or less, the short time operation range is limited.
[ HF142 ] [ HF302 ]
[ HF-KP13J-S17 ] [ HF-KP23JW04-S6 ] [ HF-KP43JW04-S6 ]
[ HF-KP73JW04-S6 ]
To rq
ue
Short time operation range
Rotation speed [r/min]
Continuous operation range
0 1000 2000
6
12
24
18
30
0
0 1000 2000 0
40
20
60
To rq
ue [N
m ]
Short time operation range
Rotation speed [r/min]
Continuous operation range
0
0.25
0.5
0.75
1.0
0 3000 6000 Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
0 3000 6000 0
0.5
1.0
1.5
2.0
Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
0
1.0
2.0
3.0
4.0
0 3000 6000 Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
0
2.0
4.0
6.0
8.0
0 3000 6000 Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-2 Spindle motor
2 - 7
2-2 Spindle motor 2-2-1 Specifications
< SJ-D Series (Normal specifications) >
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the
designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold
of "Short time rated output".
Spindle motor type SJ-D3.7/100-01 SJ-D5.5/100-01 SJ-D7.5/100-01 SJ-D11/80-01
Compatible spindle drive unit type
MDS-D-SPJ3- 37NA 55NA 75NA 110NA
Output capacity [kW]
Continuous rating 2.2 3.7 5.5 7.5
Short time rating 3.7
(15-minute rating) 5.5
(30-minute rating) 7.5
(30-minute rating) 11
(30-minute rating)
Standard output during acceleration/deceleration
3.7 5.5 7.5 11
Actual acceleration/ deceleration output (Note 3)
4.4 6.6 9 13.2
Power facility capacity [kVA] 6.7 9.9 13.4 19.6
Base rotation speed [r/min] 1500 1500 1500 1500
Maximum rotation speed [r/min] 10000 10000 10000 8000
Frame No. B90 D90 A112 B112
Continuous rated torque [Nm] 14.0 23.6 35.0 47.7
GD2 [kgm2] 0.030 0.053 0.094 0.122
Inertia [kgm2] 0.0074 0.013 0.023 0.031
Tolerable radial load [N] 980 1470 1960 1960
Cooling fan
Input voltage 3-phase 200V
Maximum power consumption
38W 38W 50W 50W
Environment
Ambient temperature Operation: 0 to 40 (with no freezing), Storage: -20 to 65 (with no freezing)
Ambient humidity Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude Operation: 1000 meters or less above sea level, Storage: 1000 meters or less above sea level,
Transportation: 10000 meters or less above sea level
Degree of protection IP54 (The shaft-through portion is excluded.)
Flange size [mm] 174 SQ. 174 SQ. 204 SQ. 204 SQ.
Total length (excluding shaft) [mm] 327 417 439 489
Flange fitting diameter [mm] 150 150 180 180
Shaft diameter [mm] 28 28 32 48
Mass [kg] 26 39 53 64
Heat-resistant class 155 (F)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 Specifications
MITSUBISHI CNC
2 - 8
< SJ-DJ Series (Compact & lightweight specifications) >
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the
designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold
of "Short time rated output".
Spindle motor type SJ-DJ5.5/100-01 SJ-DJ7.5/100-01 SJ-DJ11/100-01
Compatible spindle drive unit type
MDS-D-SPJ3- 55NA 75NA 110NA
Output capacity [kW]
Continuous rating 3.7 5.5 7.5
Short time rating 5.5
(25%ED rating) 7.5
(15-minute rating) 11
(15-minute rating)
Standard output during acceleration/deceleration
5.5 7.5 11
Actual acceleration/ deceleration output (Note 3)
6.6 9 13.2
Power facility capacity [kVA] 9.9 13.4 19.6
Base rotation speed [r/min] 1500 1500 1500
Maximum rotation speed [r/min] 10000 10000 10000
Frame No. B90 D90 A112
Continuous rated torque [Nm] 17.7 26.3 35.8
GD2 [kgm2] 0.030 0.053 0.094
Inertia [kgm2] 0.0074 0.013 0.023
Tolerable radial load [N] 980 1470 1960
Cooling fan
Input voltage 3-phase 200V
Maximum power consumption
38W 38W 50W
Environment
Ambient temperature Operation: 0 to 40 (with no freezing), Storage: -20 to 65 (with no freezing)
Ambient humidity Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude Operation: 1000 meters or less above sea level, Storage: 1000 meters or less above sea level,
Transportation: 10000 meters or less above sea level
Degree of protection IP54 (The shaft-through portion is excluded.)
Flange size [mm] 174 SQ. 174 SQ. 204 SQ.
Total length (excluding shaft) [mm] 327 417 439
Flange fitting diameter [mm] 150 150 180
Shaft diameter [mm] 28 28 32
Mass [kg] 26 39 53
Heat-resistant class 155 (F)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-2 Spindle motor
2 - 9
< SJ-V Series (Normal specifications) >
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the
designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold
of "Short time rated output".
Spindle motor type SJ-VL0.75-01T SJ-VL1.5-01T SJ-V2.2-01T SJ-V3.7-01T SJ-V5.5-01ZT
Compatible spindle drive unit type
MDS-D-SPJ3- 075NA 22NA 22NA 37NA 55NA
Output capacity [kW]
Continuous rating 0.4 0.75 1.5 2.2 3.7
Short time rating 0.75
(10-minute rating) 1.5
(10-minute rating) 2.2
(15-minute rating) 3.7
(15-minute rating) 5.5
(30-minute rating)
Standard output during acceleration/deceleration
0.75 1.5 2.2 3.7 5.5
Actual acceleration/ deceleration output (Note 3)
0.9 1.8 2.6 4.4 6.6
Power facility capacity [kVA] 1.5 2.8 4.1 6.7 9.9
Base rotation speed [r/min] 1500 1500 1500 1500 1500
Maximum rotation speed [r/min] 10000 10000 10000 10000 12000
Frame No. A71 B71 A90 B90 D90
Continuous rated torque [Nm] 2.55 4.77 9.5 14.0 23.6
GD2 [kgm2] 0.0053 0.0096 0.027 0.035 0.059
Inertia [kgm2] 0.0013 0.0024 0.00675 0.009 0.0148
Tolerable radial load [N] 490 490 980 980 980
Cooling fan
Input voltage Single-phase 200V Single-phase 200V Single-phase 200V Single-phase 200V Single-phase 200V
Maximum power consumption
14W 14W 36W 36W 36W
Environment
Ambient temperature Operation: 0 to 40 (with no freezing), Storage: -20 to 65 (with no freezing)
Ambient humidity Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude Operation: 1000 meters or less above sea level, Storage: 1000 meters or less above sea level,
Transportation: 10000 meters or less above sea level
Degree of protection IP44
Flange size [mm] 130 SQ. 130 SQ. 174 SQ. 174 SQ. 174 SQ.
Total length (excluding shaft) [mm] 265 325 300 330 425
Flange fitting diameter [mm] 110 110 150 150 150
Shaft diameter [mm] 22 22 28 28 28
Mass [kg] 15 20 25 30 49
Heat-resistant class 155 (F)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 Specifications
MITSUBISHI CNC
2 - 10
< SJ-V Series (Normal specifications) >
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the
designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold
of "Short time rated output".
Spindle motor type SJ-V7.5-01ZT SJ-V7.5-03ZT SJ-V11-01ZT
Compatible spindle drive unit type
MDS-D-SPJ3- 75NA 110NA 110NA
Output capacity [kW]
Continuous rating 5.5 5.5 7.5
Short time rating 7.5
(30-minute rating) 7.5
(30-minute rating) 11
(30-minute rating)
Standard output during acceleration/deceleration
7.5 7.5 11
Actual acceleration/ deceleration output (Note 3)
9 9 13.2
Power facility capacity [kVA] 13.4 13.4 19.6
Base rotation speed [r/min] 1500 1500 1500
Maximum rotation speed [r/min] 12000 10000 8000
Frame No. A112 A112 B112
Continuous rated torque [Nm] 35 35 47.7
GD2 [kgm2] 0.098 0.098 0.12
Inertia [kgm2] 0.0245 0.0245 0.03
Tolerable radial load [N] 980 980 1960
Cooling fan
Input voltage 3-phase 200V 3-phase 200V 3-phase 200V
Maximum power consumption
70W 70W 40W
Environment
Ambient temperature Operation: 0 to 40 (with no freezing), Storage: -20 to 65 (with no freezing)
Ambient humidity Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude Operation: 1000 meters or less above sea level, Storage: 1000 meters or less above sea level,
Transportation: 10000 meters or less above sea level
Degree of protection IP44
Flange size [mm] 204 SQ. 204 SQ. 204 SQ.
Total length (excluding shaft) [mm] 440 440 490
Flange fitting diameter [mm] 180 180 180
Shaft diameter [mm] 32 32 48
Mass [kg] 60 60 70
Heat-resistant class 155 (F)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-2 Spindle motor
2 - 11
< SJ-VL Series (Low-inertia) >
(Note 1) The tolerable radial load is the value calculated at the center of output shaft.
(Note 2) Only the combination designated in this manual can be used for the motor and drive unit. Always use the
designated combination.
(Note 3) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-fold
of "Short time rated output".
Spindle motor type SJ-VL2.2-02ZT SJ-VL11-05FZT-S01 SJ-VL11-10FZT SJ-VL11-07ZT SJ-VL11-07ZT
Compatible spindle drive unit type
MDS-D-SPJ3- 37NA 110NA 110NA 110NA 110NA
Output capacity [kW]
Continuous rating 1.5 1.5 2.2 5.5 7.5
Short time rating 2.2
(15-minute rating) 3
(10-minute rating) 3.7
(15-minute rating) 7.5
(30-minute rating) 11
(15-minute rating)
Standard output during acceleration/deceleration
2.2 11 11 11 11
Actual acceleration/ deceleration output (Note 3)
2.6 13.2 13.2 13.2 13.2
Power facility capacity [kVA] 4.1 5.5 6.7 13.4 19.6
Base rotation speed [r/min] 3000 5000 1700 1500 2200
Maximum rotation speed [r/min] 12000 12000 12000 12000 12000
Frame No. B71 B71 D90 B112 B112
Continuous rated torque [Nm] 4.77 2.8 12.4 35 32.6
GD2 [kgm2] 0.0096 0.0096 0.021 0.072 0.072
Inertia [kgm2] 0.0024 0.0024 0.00525 0.018 0.018
Tolerable radial load [N] 196 98 245 980 980
Cooling fan
Input voltage Single-phase 200V Single-phase 200V Single-phase 200V 3-phase 200V 3-phase 200V
Maximum power consumption
14W 14W 41W 70W 70W
Environment
Ambient temperature Operation: 0 to 40 (with no freezing), Storage: -20 to 65 (with no freezing)
Ambient humidity Operation: 90%RH or less (with no dew condensation), Storage: 90%RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude Operation: 1000 meters or less above sea level, Storage: 1000 meters or less above sea level
Transportation: 10000 meters or less above sea level
Degree of protection IP44
Flange size [mm] 130 SQ. 130 SQ. 174 SQ. 204 SQ. 204 SQ.
Total length (excluding shaft) [mm] 325 335 441 490 490
Flange fitting diameter [mm] 110 110 150 180 180
Shaft diameter [mm] 22 22 28 32 32
Mass [kg] 20 20 40 70 70
Heat-resistant class 155 (F)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 Specifications
MITSUBISHI CNC
2 - 12
2-2-2 Output characteristics
< SJ-D Series (Normal specifications)>
< SJ-DJ Series (Compact & lightweight specifications)>
(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-
fold of "Short time rated output".
[ SJ-D3.7/100-01 ] [ SJ-D5.5/100-01 ] [ SJ-D7.5/100-01 ]
[ SJ-D11/80-01 ]
[ SJ-DJ5.5/100-01 ] [ SJ-DJ7.5/100-01 ] [ SJ-DJ11/100-01 ]
0 1500 6000 10000
6.0
4.0
2.0
0
2.2
3.7
Continuous rating
15-minute rating
Rotation speed [r/min]
O ut
pu t
[k W
]
0 1500 6000 10000
3.7
6.0
4.0
2.0
0
5.5
Continuous rating
30-minute rating
Rotation speed [r/min]
O ut
pu t
[k W
]
0 1500 10000
5.5
8.0
6.0
4.0
2.0
0
7.5
6000
Continuous rating
30-minute rating
Rotation speed [r/min]
O ut
pu t
[k W
]
0 1500 4500 8000
Continuous rating
30-minute rating
Rotation speed [r/min]
O ut
pu t
[k W
]
0 1500 10000
5.5
8.0
6.0
4.0
2.0
0
3.7
45002000
Continuous rating
25%ED rating
Rotation speed [r/min]
O u tp
u t [ kW
]
0 1500 10000
5.5
8.0
6.0
4.0
2.0
0
7.5
45002000
Continuous rating
15-minute rating
Rotation speed [r/min]
O u tp
u t [ kW
]
0 1500 10000
11
16
12
8
4
0
7.5
45002000
Continuous rating
15-minute rating
Rotation speed [r/min]
O u tp
u t [ kW
]
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-2 Spindle motor
2 - 13
< SJ-V Series (Normal specifications)>
(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-
fold of "Short time rated output".
[ SJ-VL0.75-01T ] [ SJ-VL1.5-01T ] [ SJ-V2.2-01T ]
[ SJ-V3.7-01T ] [ SJ-V5.5-01ZT ] [ SJ-V7.5-01ZT ]
[ SJ-V7.5-03ZT ] [ SJ-V11-01ZT ]
0 1500 6000 10000
0.4
2.0
1.5
1.0
0.5
0
0.75
Continuous rating
10-minute rating
Rotation speed [r/min]
O ut
pu t
[k W
]
0 1500 6000 10000
1.5
2.0
1.5
1.0
0.5
0
0.75
Continuous rating
10-minute rating
Rotation speed [r/min] O
ut pu
t [k
W ]
0 1500 6000 10000
1.5
6.0
4.0
2.0
0
2.2
Continuous rating
15-minute rating
Rotation speed [r/min]
O ut
pu t
[k W
]
0 1500 6000 10000
3.7
6.0
4.0
2.0
0
2.2
Continuous rating
15-minute rating
Rotation speed [r/min]
O ut
pu t
[k W
]
0 1500 6000 12000
5.5
8.0
6.0
4.0
2.0
0
3.7
Continuous rating
30-minute rating
Rotation speed [r/min]
O ut
pu t
[k W
]
0 1500 6000 12000
5.5
8.0
6.0
4.0
2.0
0
7.5
Continuous rating
30-minute rating
Rotation speed [r/min] O
ut pu
t [k
W ]
0 1500 10000
5.5
8.0
6.0
4.0
2.0
0
7.5
Continuous rating
30-minute rating
Rotation speed [r/min]
O ut
pu t
[k W
]
0 1500 4500 8000
11
7.5
20
15
10
5
0
Continuous rating
30-minute rating
Rotation speed [r/min]
O ut
pu t
[k W
]
2 Specifications
MITSUBISHI CNC
2 - 14
< SJ-VL Series (Low-inertia)>
(Note) Actual acceleration/deceleration output is 1.2-fold of "Standard output during acceleration/deceleration" or 1.2-
fold of "Short time rated output".
[ SJ-VL2.2-02ZT ] [ SJ-VL11-05FZT-S01 ] [ SJ-VL11-10FZT ]
[ SJ-VL11-07ZT ] [ SJ-VL11-07ZT ]
0 3000 12000
2.2
3.0
2.0
1.0
0
1.5
Continuous rating
15-minute rating
Rotation speed [r/min]
O ut
pu t
[k W
]
0 6000 12000
11
15
10
5
0
3
5000
1.5 Continuous rating
10-minute rating
Rotation speed [r/min] O
ut pu
t [k
W ]
Standard output during acceleration/deceleration
0 1700 12000
11
15
10
5
0
3.7
5000
2.2 Continuous rating
15-minute rating
Rotation speed [r/min]
O ut
pu t
[k W
]
Standard output during acceleration/deceleration
0 1500 12000
11
15
10
5
0
7.5
8000
5.5
2200
Continuous rating
30-minute rating
Rotation speed [r/min]
O ut
pu t
[k W
] Standard output during acceleration/deceleration
0 2200 8000 12000
11
15
10
5
0
7.5
Continuous rating
15-minute rating
Rotation speed [r/min]
O ut
pu t
[k W
]
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-3 Tool spindle motor
2 - 15
2-3 Tool spindle motor 2-3-1 Specifications
< HF-KP Series >
(Note) The above characteristics values are representative values. The maximum current and maximum torque are the
values when combined with the drive unit.
Tool spindle motor type
HF-KP Series
HF-KP -W09
HF-KP46 HF-KP56 HF-KP96
Compatible spindle drive unit type
MDS-D-SPJ3- 075NA 075NA 075NA
Continuous characteristics
Rated output [kW] 0.4 0.5 0.9
Rated current [A] 1.5 1.8 3.4
Rated torque [Nm] 0.64 0.80 1.43
Power facility capacity [kVA] 0.9 1.1 1.8
Rated rotation speed [r/min] 6000
Maximum rotation speed [r/min] 6000
Maximum current [A] 5.5 11.3 15.5
Maximum torque [Nm] 2.5 5.0 6.5
Motor inertia [10-4kgm2] 0.24 0.42 1.43
Motor side encoder Resolution per motor revolution
W09:262,144 pulse/rev
Degree of protection IP67 (The shaft-through portion is excluded.)
Environment
Ambient temperature
Operation: 0 to 40 (with no freezing),
Storage: -15 to 70 (with no freezing)
Ambient humidity Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude Operation: 1000 meters or less above sea level, Storage: 10000 meters or less above sea level
Vibration X,Y: 49m/s2 (5G)
Flange size [mm] 60 SQ. 60 SQ. 80 SQ.
Total length (excluding shaft) [mm] 118.7 140.6 149.1
Flange fitting diameter [mm] 50 50 70
Shaft diameter [mm] 14 14 19
Mass [kg] 1.2 1.7 2.9
Heat-resistant class 130 (B)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 Specifications
MITSUBISHI CNC
2 - 16
< HF Series >
(Note) The above characteristics values are representative values. The maximum current and maximum torque are the
values when combined with the drive unit.
Tool spindle motor type
HF Series
HF -A48
HF75 HF105 HF54 HF104 HF154 HF224 HF204 HF123 HF223 HF303
Compatible spindle drive unit type
MDS-D-SPJ3- 075NA 075NA 075NA 22NA 37NA 37NA 37NA 075NA 22NA 37NA
Continuous characteristics
Rated output [kW] 0.75 1.0 0.5 1.0 1.5 2.2 2.0 1.2 2.2 3.0
Rated current [A] 3.1 3.7 2.0 3.9 5.6 8.6 6.8 5.2 9.0 11
Rated torque [Nm] 1.8 2.4 1.6 3.2 4.8 7.0 6.4 5.7 10.5 14.3
Power facility capacity [kVA] 1.5 2.0 1.1 2.0 2.8 4.1 3.7 2.3 4.1 5.5
Rated rotation speed [r/min] 4000 3000 2000
Maximum rotation speed [r/min] 4000 3000 2000
Maximum current [A] 14.0 15.5 16.8 29.0 52.0 57.0 57.0 15.5 29.0 48.0
Maximum torque [Nm] 7.0 8.1 12.1 23.3 33.9 46.5 46.5 17.0 32.0 64.0
Motor inertia [10-4kgm2] 2.6 5.1 6.1 11.9 17.8 23.7 38.3 11.9 23.7 75.0
Motor side encoder Resolution per motor revolution
A48262,144 pulse/rev
Degree of protection IP67 (The shaft-through portion is excluded.)
Environment
Ambient temperature
Operation: 0 to 40 (with no freezing),
Storage: -15 to 70 (with no freezing)
Ambient humidity Operation: 80%RH or less (with no dew condensation),
Storage: 90%RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist, or dust
Altitude Operation: 1000 meters or less above sea level, Storage: 10000 meters or less above sea level
Vibration X:19.6m/s2 (2G) Y:19.6m/s2(2G)
Flange size [mm] 90 SQ. 90 SQ. 130 SQ. 130 SQ. 130 SQ. 130 SQ. 176 SQ. 130 SQ. 130 SQ. 176 SQ.
Total length (excluding shaft) [mm] 126.5 162.5 118.5 140.5 162.5 184.5 143.5 140.5 184.5 183.5
Flange fitting diameter [mm] 80 80 110 110 110 110 114.3 110 110 114.3
Shaft diameter [mm] 14 14 24 24 24 24 35 24 24 35
Mass [kg] 2.5 4.3 4.8 6.5 8.3 10.0 12.0 6.5 10.0 19.0
Heat-resistant class 155 (F)
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-3 Tool spindle motor
2 - 17
2-3-2 Output characteristics
< HF-KP Series >
(Note) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is
200VAC or less, the short time operation range is limited.
[ HF-KP46JW09 ] [ HF-KP56JW09 ] [ HF-KP96JW09 ]
0.0
0.5
1.0
1.5
2.0
2.5
3.0
0 2000 4000 6000
To rq
ue [N m
]
Rotation speed [r/min]
Short time operation range
Continuous operation range
0.0
1.0
2.0
3.0
4.0
5.0
6.0
0 2000 4000 6000 To
rq ue
[N m
]
Rotation speed [r/min]
Short time operation range
Continuous operation range 0.0
2.0
4.0
6.0
8.0
0 2000 4000 6000
To rq
ue [N m
]
Rotation speed [r/min]
Short time operation range
Continuous operation range
2 Specifications
MITSUBISHI CNC
2 - 18
< HF Series >
(Note) The above graphs show the data when applied the input voltage of 200VAC. When the input voltage is
200VAC or less, the short time operation range is limited.
[ HF75 ] [ HF105 ]
[ HF54 ] [ HF104 ] [ HF154 ]
[ HF224 ] [ HF204 ] [ HF123 ]
[ HF223 ] [ HF303 ]
0 2000 0
2.5
5
7.5
10
4000
Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
0
3
6
9
12
0 2000 4000 Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
0 2000 3000 0
3
9
12
15
6
1000 Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
0 2000 3000 0
5
20
25
15
10
1000 Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
0 2000 3000 0
10
40
50
30
20
1000 Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
0 2000 3000 0
10
20
40
30
50
1000
To rq
ue [N m
]
Rotation speed [r/min]
Short time operation range
Continuous operation range
0 2000 3000 0
10
20
40
30
50
1000 Rotation speed [r/min]
To rq
ue [N
m ]
Short time operation range
Continuous operation range
0 1000 2000 0
5
10
15
20
To rq
ue [N m
]
Rotation speed [r/min]
Continuous operation range
Short time operation range
0 1000 0
10
20
30
40
2000 Rotation speed [r/min]
[N m
] To
rq ue
Continuous operation range
Short time operation range
20
40
60
80
1000 20000 0
To rq
ue [N m
]
Short time operation range
Continuous operation range
Rotation speed [r/min]
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-4 Drive unit
2 - 19
2-4 Drive unit 2-4-1 Installation environment conditions
Common installation environment conditions for servo and spindle are shown below.
2-4-2 Servo drive unit
Environment
Ambient temperature Operation: 0 to 55 (with no freezing), Storage / Transportation: -15 to 70 (with no freezing)
Ambient humidity Operation: 90%RH or less (with no dew condensation)
Storage / Transportation: 90%RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight)
With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
Altitude Operation/Storage: 1000 meters or less above sea level, Transportation: 13000 meters or less above sea level
Vibration/impact 4.9m/s2 (0.5G) / 49m/s2 (5G)
Servo drive unit MDS-D-SVJ3 Series
Servo drive unit type MDS-D-SVJ3-
03NA 04NA 07NA 10NA 20NA 35NA
Rated output [kW] 0.3 0.4 0.7 1.0 2.0 3.5
Output Rated voltage [V] AC155
Rated current [A] 1.5 3.2 5.8 11 16 22
Input
Rated voltage [V] 200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation: between +10% and -15%
Frequency [Hz] 50/60 Tolerable fluctuation: between +5% and -5%
Rated current [A] 1.5 2.9 3.8 5.0 10.5 16
Control power
Voltage [V] 200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation: between +10% and -15%
Frequency [Hz] 50/60 Tolerable fluctuation: between +5% and -5%
Maximum current [A] 0.2
Maximum rush current [A] 30
Maximum rush conductivity time [ms]
6
Earth leakage current [mA] 1 (Max. 2)
Main circuit method Converter with resistor regeneration circuit
Control method Sine wave PWM control method
Braking Regenerative braking and dynamic brakes
Dynamic brakes Built-in
External analog output 0 to +5V, 2ch (data for various adjustments)
Degree of protection Protection type (Protection method: IP20 [over all])
Cooling method Natural-cooling Forced air cooling
Mass [kg] 0.8 1.0 1.4 2.3 2.3 2.3
Heat radiated at rated output [W] 25 35 50 90 130 195
Noise Less than 55dB
Unit outline dimension drawing J1 J2 J3 J4a J4a J4b
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
2 Specifications
MITSUBISHI CNC
2 - 20
2-4-3 Spindle drive unit
Spindle drive unit MDS-D-SPJ3 Series
Spindle drive unit type MDS-D-SPJ3-
075NA 22NA 37NA 55NA 75NA 110NA
Rated output [kW] 0.75 2.2 3.7 5.5 7.5 11.0
Output Rated voltage [V] 155AC
Rated current [A] 4.5 10 11 18 26 36
Input
Rated voltage [V] 200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation: between +10% and -15%
Frequency [Hz] 50/60 Tolerable fluctuation: between +5% and -5%
Rated current [A] 2.6 9.0 10.5 16 26 35.4
Control power
Voltage [V] 200AC (50Hz) / 200 to 230AC (60Hz) Tolerable fluctuation: between +10% and -15%
Frequency [Hz] 50/60 Tolerable fluctuation: between +5% and -5%
Maximum current [A] 0.2
Maximum rush current [A] 30
Maximum rush conductivity time [ms]
6
Earth leakage current [mA] 6 (Max. 15)
Main circuit method Converter with resistor regeneration circuit
Control method Sine wave PWM control method
Braking Regenerative braking
External analog output 0 to +5V, 2ch (data for various adjustments)
Degree of protection IP20 IP00
Cooling method Forced air cooling
Mass [kg] 1.4 2.1 2.1 4.6 4.6 6.5
Heat radiated at continuous rated output [W]
50 90 130 150 200 300
Noise Less than 55dB
Unit outline dimension drawing J3 J4a J4b J5 J5 J6
For outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK" (IB-1500273(ENG)).
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-4 Drive unit
2 - 21
2-4-4 Unit outline dimension drawing
Unit [mm]
2 Specifications
MITSUBISHI CNC
2 - 22
2-4-5 Explanation of each part
(1) Explanation of each servo drive unit part
The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline
drawing for details.
Name Description Screw size
(1)
Control circuit
LED --- Unit status indication LED ---
(2) SW1 --- Axis No. setting switch ---
(3) SW2 --- For machine tool builder adjustment: Always OFF (facing bottom) ---
(4) CN9 --- DI/O or maintenance connector ---
(5) CN1A --- NC or master axis optical communication connector ---
(6) CN1B --- Slave axis optical communication connector ---
(7) CN2 --- Motor side encoder connection connector ---
(8) CN3 --- Machine side encoder connection connector ---
(9) BAT --- Battery connection connector ---
(10)
Main circuit
CNP1 L1,L2,L3 N,P1,P2
L1,L2,L3: 3-phase AC power input N: Test terminal for the manufacturer (Do not connect.) P1,P2: Not used (short-circuit between the P1 and P2.)
---
(11) CNP2 P,C,D
L11,L21 Regenerative resistor connection terminal Control power input terminal (single-phase AC input)
---
(12) CNP3 U, V, W Motor power supply output connector (3-phase AC output) ---
(13) PE Grounding terminal M4 x 10
Do not connect the N terminal of CNP1 because it is the test terminal for the manufacturer.
MDS-D-SVJ3-35NA
(10)
(11)
(12)
(1)
(10)
(11)
(12)
(13)
MDS-D-SVJ3-03NA/04NA/07NA
(2) (3)
(5)
(6)
(8) (7)
(4)
(9)
(13)
MDS-D-SVJ3-10NA/20NA
(10)
(11)
(12)
(13)
CAUTION
MDS-D-SVJ3/SPJ3 Series Specifications Manual
2-4 Drive unit
2 - 23
(2) Explanation of each spindle drive unit (0.75 to 3.7kW) part
The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline
drawing for details.
Name Description Screw size
(1)
Control circuit
LED --- Unit status indication LED ---
(2) SW1 --- Axis No. setting switch ---
(3) SW2 --- For machine tool builder adjustment: Always OFF (facing bottom) ---
(4) CN9 --- DI/O or maintenance connector ---
(5) CN1A --- NC or master axis optical communication connector ---
(6) CN1B --- Slave axis optical communication connector ---
(7) CN2 --- Motor side encoder connection connector ---
(8) CN3 --- Machine side encoder connection connector ---
(9)
Main circuit
CNP1 L1,L2,L3 N,P1,P2
L1,L2,L3: 3-phase AC power input N: Test terminal for the manufacturer (Do not connect.) P1,P2: Not used (short-circuit between the P1 and P2.)
---
(10) CNP2 P,C,D
L11,L21 Regenerative resistor connection terminal Control power input terminal (single-phase AC input)
---
(11) CNP3 U, V, W Motor power output terminal (3-phase AC output) ---
(12) PE Grounding terminal M410
Do not connect the N terminal of CNP1 because it is the test terminal for the manufacturer.
MDS-D-SPJ3-37NA
(9)
(10)
(11)
MDS-D-SPJ3-075NA
(1)
(10)
(9)
(11)
(12)
(2) (3)
(5)
(6)
(8) (7)
(4)
(12)
MDS-D-SPJ3-22NA
(10)
(9)
(11)
(12)
CAUTION
2 Specifications
MITSUBISHI CNC
2 - 24
(3) Explanation of each spindle drive unit (5.5 to 11kW) part
The connector and terminal block layout may differ according to the unit being used. Refer to each unit outline
drawing for details.
Name Description Screw size
(1)
Control circuit
LED --- Unit status indication LED ---
(2) SW1 --- Axis No. setting switch ---
(3) SW2 --- For machine tool builder adjustment: Always OFF (facing bottom) ---
(4) CN9 --- DI/O or maintenance connector ---
(5) CN1A --- NC or master axis optical communication connector ---
(6) CN1B --- Slave axis optical communication connector ---
(7) CN2 --- Motor side encoder connection connector ---
(8) CN3 --- Machine side encoder connection connector ---
(9)
Main circuit
TE2 L11,L21 Control power input terminal (single-phase AC input) M3.56
(10) TE1 L1,L2,L3
P,C U, V, W
L1,L2,L3: 3-phase AC power input P,C: Regenerative resistor connection terminal U,V,W: Motor power output terminal (3-phase AC output)
M410
(11) PE Grounding terminal M410
(5)
(6)
(8) (7)
(1) (2)
(10)
(9)
(11)
(3)
(4)
(10) (11)
(9) MDS-D-SPJ3-55NA/75NA
MDS-D-SPJ3-110NA
3 - 1
3
Function Specifications
3 Function Specifications
MITSUBISHI CNC
3 - 2
Function specifications list
Item MDS-D-CV MDS-DH-CV MDS-DM-SPV
built-in converter
MDS-D- SVJ3NA
MDS-D-SVJ3 built-in
converter
MDS-D- SPJ3NA
MDS-D-SPJ3 built-in
converter
1 Base control functions
1-14 Power regeneration control - -
1-15 Resistor regeneration control - - -
4 Protection function
4-6 Fan stop detection
4-7 Open-phase detection - -
4-8 Contactor weld detection
5 Sequence function
5-1 Contactor control function
5-3 External emergency stop function
5-5 High-speed READY ON sequence - -
6 Diagnosis function
6-7 Power supply voltage display function - - -
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3 - 3
(Note 1) For the multiaxis drive unit, a control by each axis is not available.
It is required to turn the servo of all axes OFF in the drive unit in order to enable a motor brake output.
(Note 2) For the drive unit MDS-DM-SPV2/3, this function is not available.
Item MDS-D- V1/V2
MDS-DH- V1/V2
MDS-DM- V3
MDS-DM- SPV2F/3F MDS-DM- SPV2/3
MDS-D- SVJ3NA
MDS-D-SVJ3
1 Base control functions
1-1 Full closed loop control - (Note2)
1-2 Position command synchronous control
1-3 Speed command synchronous control - - -
1-4 Distance-coded reference position control - - -
2 Servo control function
2-1 Torque limit function (stopper function)
2-2 Variable speed loop gain control
2-3 Gain changeover for synchronous tapping control
2-4 Speed loop PID changeover control
2-5 Disturbance torque observer
2-6 Smooth High Gain control (SHG control)
2-7 High-speed synchronous tapping control (OMR-DD control)
(Only for 1-axis)
(Only for 1-axis)
-
2-8 Dual feedback control - (Note2)
2-9 HAS control -
3 Compensat ion control function
3-1 Jitter compensation
3-2 Notch filter
Variable frequency: 4 Fixed frequency: 1
Variable frequency: 4 Fixed frequency: 1
Variable frequency: 4 Fixed frequency: 1
Variable frequency: 4 Fixed frequency: 1
Variable frequency: 4 Fixed frequency: 1
3-3 Adaptive tracking-type notch filter - - -
3-4 Overshooting compensation
3-5 Machine end compensation control
3-6 Lost motion compensation type 2
3-7 Lost motion compensation type 3
3-8 Lost motion compensation type 4 - - -
4 Protection function
4-1 Deceleration control at emergency stop
4-2 Vertical axis drop prevention/pull-up control
4-3 Earth fault detection
4-4 Collision detection function
4-5 Safety observation function
4-6 Fan stop detection
5 Sequence function
5-2 Motor brake control function (Note 1)
5-4 Specified speed output -
5-5 Quick READY ON sequence -
6 Diagnosis function
6-1 Monitor output function
6-2 Machine resonance frequency display function
6-3 Machine inertia display function
6-4 Motor temperature display function (Only for linear or direct-drive motor) - -
3 Function Specifications
MITSUBISHI CNC
3 - 4
(Note) The motor output effective value cannot be displayed.
Item MDS-D-
SP MDS-DH-
SP MDS-D-
SP2
MDS-DM- SPV2F/3F MDS-DM- SPV2/3
MDS-D- SPJ3NA
MDS-D-SPJ3
1 Base control functions
1-5 Spindle's continuous position loop control
1-6 Coil changeover control - -
1-7 Gear changeover control
1-8 Orientation control
1-9 Indexing control
1-10 Synchronous tapping control
1-11 Spindle synchronous control
1-12 Spindle/C axis control
1-13 Proximity switch orientation control -
2 Spindle control functions
2-1 Torque limit function
2-2 Variable speed loop gain control
2-5 Disturbance torque observer -
2-6 Smooth High Gain control (SHG control)
2-7 High-speed synchronous tapping control (OMR-DD control) -
2-8 Dual feedback control
2-10 Control loop gain changeover
2-11 Spindle output stabilizing control
2-12 High-response spindle acceleration/ deceleration function
3 Compensat ion control function
3-1 Jitter compensation
3-2 Notch filter
Variable frequency: 4 Fixed frequency: 1
Variable frequency: 4 Fixed frequency: 1
Variable frequency: 4 Fixed frequency: 1
Variable frequency: 4 Fixed frequency: 1
Variable frequency: 4 Fixed frequency: 1
3-4 Overshooting compensation
3-6 Lost motion compensation type 2
3-9 Spindle motor temperature compensation function -
4 Protection function
4-1 Deceleration control at emergency stop
4-3 Earth fault detection
4-5 Safety observation function
4-6 Fan stop detection
5 Sequence functions
5-4 Specified speed output -
5-5 Quick READY ON sequence -
6 Diagnosis functions
6-1 Monitor output function
6-2 Machine resonance frequency display function
6-3 Machine inertia display function
6-4 Motor temperature display function
6-5 Load monitor output function (Note)
6-6 Open loop control function
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-1 Base functions
3 - 5
3-1 Base functions 3-1-1 Full closed loop control
The servo control is all closed loop control using the encoder's feedback. "Full closed loop control" is the system that
directly detects the machine position using a linear scale, whereas the general "semi-closed loop" is the one that detects
the motor position.
In a machine that drives a table with a ball screw, the following factors exist between the motor and table end:
(1) Coupling or ball screw table bracket's backlash
(2) Ball screw pitch error
These can adversely affect the accuracy. If the table position of the machine side is directly detected with a linear scale,
high-accuracy position control which is not affected by backlash or pitch error is possible.
+ + + - - -
ENC
IG VGN PGN NC
+ + + - - -
IG VGN PGN NC
Position command
Full closed loop control (servo)
Position command
Current command
Voltage command
Speed FB Current FB
Position FB
Servo motor
Table
Linear scale
The ball screw side encoder is also applied.
Position command
Full closed loop control (spindle)
Position command
Current command
Voltage command
Speed FB Current FB
Position FB V-belt
Spindle Spindle encoder
Motor encoder
3 Function Specifications
MITSUBISHI CNC
3 - 6
3-1-2 Position command synchronous control
This is one of the controls which enable two servo motors to drive the same axis. This is also called "Position tandem
control"
The same position command is issued to the 2-axis servo control, and the control is carried out according to each axis'
position and speed feedbacks.
(1) The position commands in which machine's mechanical errors (pitch error, backlash, etc.) have been
compensated, can be output to each axis.
(2) Each axis conducts independent position control, therefore the machine posture can be kept constant.
(3) Deviation between the two axes is always monitored, and if excessive, the alarm is detected.
3-1-3 Speed command synchronous control
This is one of the controls which enable two servo motors to drive the same axis. This is also called "Speed tandem
control".
The same position command is issued to the 2-axis servo control, and the control is carried out according to each axis'
position and speed feedbacks.
This function is usually used when the control is performed with one linear scale during the full closed loop control.
(1) The position commands in which machine's mechanical errors (pitch error, backlash, etc.) have been
compensated, can be output to each axis.
(2) Each axis conducts independent position control, therefore the machine posture can be kept constant.
(3) Deviation between the two axes is always monitored, and if excessive, the alarm is detected
1. The speed command synchronous control cannot be used for a primary or secondary axis
on which load unbalance is generated (Example: an axis carrying an operating axis).
2. Disturbance observer cannot be used during the speed command synchronous control.
When using a motor with brake for rigid synchronization control axes, the brake circuits of the
two motors can be connected to the motor brake control connector.
+
+ +
+ -
- -
- M
CNC
S
M
S
Same position command
Program Compen -sation
Compen -sation
Position control
Position control
Speed control
Speed control
Current control
Current control
Encoder
Encoder
Primary axis
Secondary axis
+
+
+
+
-
-
-
-
M
S
M
S
CNC
Same position command
Program Compen -sation
Position control
Position control
Speed control
Speed control
Current control
Current control
Encoder
Encoder
Primary axis
Secondary axis Same position FB
Same speed command
CAUTION
POINT
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-1 Base functions
3 - 7
3-1-4 Distance-coded reference position control
This is the function to establish the reference point from axis movements of the reference points using a scale with
distance-coded reference mark.
Since it is not necessary to move the axis to the reference point, the axis movement amount to establish the reference
point can be reduced.
No dog is used as the position is calculated using reference marks. This function can not be used for the linear servo
motor and direct-drive motor.
If the distance-coded reference check function is used to verify the motor end encoder data, select a battery option
before setting the parameter.
3-1-5 Spindle's continuous position loop control
Under this control, position loop control is always applied to spindle, including when speed command is issued (in
cutting). There is no need for control changeover nor zero point return during orientation and C axis control changeover.
Therefore, the operation can be completed in a shorter time than the previous.
In acceleration/deceleration with S command, the acceleration/deceleration and orientation are always controlled with
the spindle motor's maximum torque.
3-1-6 Coil changeover control
A signal output from the spindle drive unit controls the changeover of the low-speed and high-speed specification coils in
a spindle motor.
The drive unit automatically outputs the coil changeover sequence in accordance with the motor speed.
3-1-7 Gear changeover control
This function enables a spindle motor to perform both high-speed light cutting and low-speed heavy cutting by changing
the gear ratio between the motor and spindle.
The gear change is carried out while the spindle is not running.
3-1-8 Orientation control
This control enables a spindle motor to stop at a designated angle when the motor is rotating at a high-speed with a
speed command. This control is used for exchanging the tools in machining centers and performing index positioning in
lathes, etc.
1 0.8
Zero point return
C-axis positioning
C-axis positioning
Time reduced
TimeTime
TimeTime
SpeedSpeed
SpeedSpeed Reduced by 20%
Orientation
C-axis changeover
3 Function Specifications
MITSUBISHI CNC
3 - 8
3-1-9 Indexing control
This control enables positioning of a spindle motor at an arbitrary angle (in increments of 0.01 degrees) from the
orientation stop position. This control is used for positioning in lathes for hole drilling, etc.
3-1-10 Synchronous tapping control
Under synchronous tapping control, spindle control is completely synchronized with Z axis servo control, and Z axis is
accurately fed by one screw pitch in accordance with one tap revolution. The tap is completely fixed to the spindle head.
As a result, feed pitch error is less likely to occur, which allows high-speed, high-accuracy and high-durable tapping.
3-1-11 Spindle synchronous control
This control enables two spindles to run at the same speed. A spindle being driven with a speed command is
synchronized with another spindle at a constant rate or acceleration/deceleration rate.
This control is applied such as when a workpiece is transferred between two rotating chucks in lathe or a workpiece is
held with two chucks.
3-1-12 Spindle/C axis control
An axis rotating about Z axis is called C axis, whose rotation direction is normally the same as of spindle. This function
enables high-accuracy spindle control including interpolation control, like servo axis, when a high-resolution position
encoder is attached to the spindle motor.
3-1-13 Proximity switch orientation control
Orientation control is carried out based on the leading edge position of the proximity switch output signal (ON/OFF).
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-2 Servo/Spindle control functions
3 - 9
3-2 Servo/Spindle control functions 3-2-1 Torque limit function
This control suppresses the motor output torque with the parameter values (SV013, SV014).
This function is used for stopper positioning control and stopper reference position establishment, by switching the two
setting values.
3-2-2 Variable speed loop gain control
< Servo >
If disturbing noise occurs when the motor is rotating at a high speed, such as during rapid traverse, the high speed loop
gain during high-speed rotation can be lowered with this function.
< Spindle >
For a high-speed spindle of machining center etc., adequate response can be ensured with this function by suppressing
noise and vibration at low speeds and increasing the speed loop gain at high-speeds.
3-2-3 Gain changeover for synchronous tapping control
SV003, SV004 and SV057 are used as the position loop gain for normal control. Under synchronous tapping control,
SV049, SV050 and SV058 are used instead to meet the spindle characteristics.
VGN1:SV005 VGN2:SV006 VCS:SV029 VLMT: Servo motor maximum speed x 1.15
VGN1:SP005 VGN2:SP008 VGVN:SP073 VGVS:SP074 VLMT: Spindle maximum speed x 1.15
0 VLMTVCS
VGN2
VGN1
(VLMT M d 1 15)
0 VGVS VLMT
VGVN
VGN1 (VGN2)
0 VGVS VLMT
VGVN
VGN1 (VGN2)
(VLMT=Max. speed x 1.15)(VLMT=Max. speed x 1.15)
Spindle
Servo axis
Material
3 Function Specifications
MITSUBISHI CNC
3 - 10
3-2-4 Speed loop PID changeover control
This function is used under full-closed loop control. Normally, machine-end position tracking delays compared with the
motor-end position.
Under full-closed position loop control, machine-end position is used for position feedback. Therefore, the motor-end
position tends to advance too much, which may cause overshooting of the machine-end position.
This function can suppress the generation of overshoot by adding the D (delay) control to the speed control, which is
normally controlled with PI (proportional integral), in order to weaken the PI control after the position droop becomes 0.
3-2-5 Disturbance torque observer
The effect caused by disturbance, frictional resistance or torsion vibration during cutting can be reduced by estimating
the disturbance torque and compensating it.
3-2-6 Smooth High Gain control (SHG control)
A high-response control and smooth control (reduced impact on machine) were conventionally conflicting elements;
however, SHG control enables the two elements to function simultaneously by controlling the motor torque (current FB)
with an ideal waveform during acceleration/deceleration.
3-2-7 High-speed synchronous tapping control (OMR-DD control)
Servo drive unit detects the spindle position, and compensates the synchronization errors. This control enables more
accurate tapping than the previous.
(Note) A spindle drive unit that controls the high-speed synchronous tapping (OMR-DD control) has to be connected
on the farther side from the NC than the servo drive unit that is subject to the synchronous tapping control.
SHG controlSpeed
Conventional control
Position loop step response Time
4000 3000
0 0.5 1 1.5 2 2.5 3 3.5
2000 1000
1000 2000 3000 4000
0
4000 3000
0 0.5 1 1.5 2 2.5 3 3.5
2000 1000
1000 2000 3000 4000
0
(r/min) (r/min)
Spindle speedSpindle speed
Spindle speed Spindle speed
Servo/Spindle synchronous error
(sec) (sec)
Servo/Spindle synchronous error
Without OMR-DD control With OMR-DD control
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-2 Servo/Spindle control functions
3 - 11
3-2-8 Dual feedback control
This function is used under full-closed loop control.
When a linear scale is used, the machine-end position, such as a table, is directly detected, which may render the
position loop control unstable.
With this control, however, high-frequency components are eliminated from the machine-end feedback signals, which
will lead to stable control.
3-2-9 HAS control
If the torque output during acceleration/deceleration is close to the servo motor's maximum torque, the motor cannot
accelerate with the commanded time constant when the torque is saturated due to input voltage fluctuation, etc. As a
result, speed overshoot occurs when a constant speed command is issued, because the position droop for the delay is
canceled.
With HAS control, however, this overshoot is smoothened so that the machine operation can be stable.
3-2-10 Control loop gain changeover
Position loop gain and speed loop gain are switched between non-interpolation mode, which is used during speed
command, and interpolation mode, which is used during synchronous tapping and C axis control. By switching these
gains, optimum control for each mode can be realized.
ENC
SV051
+
+ +
-
- -
Position control
Primary delay filter
High frequency FB element
Position command
Position droop Servo motor
Linear scale
Table Speed command
Position FB
Position FB
Dual feedback control
Low frequency FB element
0[r/min] 0[r/min][r/min][r/min]
HAS control will catch up the delay of position.
Speed feedback
1% or less than maximum speed
Speed command Overshoot will occur to catch up the delay of position.
Speed command
Speed feedback
During current limit During current limit
HAS control is disabled. HAS control is enabled.
3 Function Specifications
MITSUBISHI CNC
3 - 12
3-2-11 Spindle output stabilizing control
Spindle motor's torque characteristic is suppressed due to voltage saturation in the high-speed rotation range, therefore
the current control responsiveness significantly degrades, which may cause excessive current.
With this control, however, the current and flux commands are compensated to avoid the voltage saturation so that the
current control responsiveness will not degrade.
3-2-12 High-response spindle acceleration/deceleration function
This function enables reduction of the spindle motor's setting time (from when the command value becomes 0 until when
the motor actually stops) without being affected by the position loop gain, when the spindle motor stops under
deceleration stop control using the S command.
This function is not active when the spindle is stopped while performing position control, such as orientation control and
synchronous tapping control.
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-3 Compensation controls
3 - 13
3-3 Compensation controls 3-3-1 Jitter compensation
The load inertia becomes much smaller than usual if the motor position enters the machine backlash when the motor is
stopped.
Because this means that an extremely large VGN1 is set for the load inertia, vibration may occur.
Jitter compensation can suppress the vibration that occurs at the motor stop by ignoring the backlash amount of speed
feedback pulses when the speed feedback polarity changes.
3-3-2 Notch filter
This filter can damp vibrations of servo torque commands at a specified frequency.
Machine vibrations can be suppressed by adjusting the notch filter frequency to the machine's resonance frequency.
Filter depth adjustment is also available that allows stable control even when the filter is set to an extremely low
frequency.
3-3-3 Adaptive tracking-type notch filter
Machine's specific resonance frequency tends to change due to aged deterioration or according to machine's operation
conditions. Therefore, the frequency may be deviated from the filter frequency set at the initial adjustment. With adaptive
tracking-type notch filter, resonance point fluctuation due to the machine's condition change is estimated using the
vibration components of the current commands, and effective notch filter frequency, which has been deviated from the
setting value, is automatically corrected to suppress the resonance.
Notch filter Frequency Depth compensation Notch filter 1 50Hz to 2250Hz Enabled Notch filter 2 50Hz to 2250Hz Enabled Notch filter 3 Fixed at 1125Hz Disabled Notch filter 4 50Hz to 2250Hz Enabled Notch filter 5 50Hz to 2250Hz Enabled
+20
-20
-40
0
+20
-20
-40
0
10 30 50 70 100 300 500 700 1k
10 30 50 70 100 300 500 700 1k
Gain [dB]
Gain [dB]
Frequency [Hz]
Frequency [Hz]
Example of filter characteristic set to 300Hz
For shallow setting by additionally using the depth compensation at 300Hz
3 Function Specifications
MITSUBISHI CNC
3 - 14
3-3-4 Overshooting compensation
The phenomenon when the machine position goes past or exceeds the command during feed stopping is called
overshooting.
In OVS compensation, the overshooting is suppressed by subtracting the torque command set in the parameters when
the motor stops.
3-3-5 Machine end compensation control
The shape of the machine end during high-speed and high-speed acceleration operation is compensated by
compensating the spring effect from the machine end to the motor end.
The shape may be fine during low-speed operation. However, at high speeds, the section from the machine end to the
outer sides could swell. This function compensates that phenomenon.
0
0
0
0
Position command
Position droop
Time
Overshoot
Speed FB
Position droop
Time
Overshoot
[1] Overshooting during rapid traverse settling [2] Overshooting during pulse feed
Compensation
Electric end FB
Machine end FB
Electric end FB
Normal control
Machine end FB
Machine end compensation
Electric end FB
Machine end FB
Spindle head
Program path
Command is issued in the inner side during high-speed feed.
During high-speed feed, the machine end swells outward due to the spring effect.
Since a command is issued in the inner side by the amount of spring effect, the shape keeps fine even during the high-speed feed.
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-3 Compensation controls
3 - 15
3-3-6 Lost motion compensation type 2
Servo motor always drives the machine opposing to the frictional force, and the torque which is required to oppose the
friction during the axis movement is outputted by I control (Integral control) of the speed loop PI control. When the
movement direction is changed, the frictional force works in the opposite direction momentarily, however, the machine
will stop while the command torque is less than the frictional force as it takes some time to reverse the command torque
in I control.
When the movement direction is changed, the frictional force works in the opposite direction momentarily, however, the
machine will stop while the command torque is less than the frictional force as it takes some time to reverse the
command torque in I control.
With the this lost motion compensation function improves the accuracy worsened by the stick motion.
3-3-7 Lost motion compensation type 3
For a machine model where the travel direction is reversed, the compensation in accordance with the changes in the
cutting conditions is enabled by also considering the spring component and viscosity component in addition to the
friction.
This function can be used to accommodate quadrant projection changes that accompany feed rate and circular radius
changes which could not be compensated by Lost motion compensation type 2.
1.Mechanical spring elements can't be ignored. 2.Changes between static and dynamic frictions are wide and steep.
Not only frictions but spring element and viscosity element can be compensated, thus quadrant protrusions are suppressed within a wide band.
Conventional control cant perform enough compensation.
Conventional compensation control Lost motion compensation control type 3
No compensation With compensation
+Y +Y
+X +X
3m
3 Function Specifications
MITSUBISHI CNC
3 - 16
3-3-8 Lost motion compensation type 4
When the difference between static and dynamic friction is large, the friction torque changes sharply at the inversion of
the travel direction. When the lost motion type 4 is used together with the type 2 or type 3, the acute change of the
friction torque is compensated so that the path accuracy at the travel direction inversion can be enhanced.
3-3-9 Spindle motor temperature compensation function
As for the low-temperature state of the IM spindle motor, the output characteristic may deteriorate in comparison with the
warm-up state and the acceleration/deceleration time may become long, or the load display during cutting may become
high immediately after operation. This function performs the control compensation depending on the motor temperature
with the thermistor built into the spindle motor and suppresses the output characteristic deterioration when the
temperature is low. Temperature compensation function is not required for IPM spindle motor in principle.
1.50
1.60
1.70
1.80
1.90
2.00
2.10
2.20
2.30
2.40
2.50
10020 40 60 80 Stator (thermistor) temperature[]
S1 20
00 A
cc el
er at
io n/
d ec
el er
at io
n ti
m e[ s] With compensation
[Acceleration] With compensation [Deceleration]
Without compensation [Acceleration] Without compensation [Deceleration]
Eect of suppressing acceleration/deceleration
time uctuation
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-4 Protection function
3 - 17
3-4 Protection function 3-4-1 Deceleration control at emergency stop
When an emergency stop (including NC failure, servo alarm) occurs, the motor will decelerate following the set time
constant while maintaining the READY ON state.
READY will turn OFF and the dynamic brakes will function after stopping. The deceleration stop can be executed at a
shorter distance than the dynamic brakes.
3-4-2 Vertical axis drop prevention/pull-up control
If the READY OFF and brake operation are commanded at same time when an emergency stop occurs, the axis drops
due to a delay in the brake operation.
The no-control time until the brakes activate can be eliminated by delaying the servo READY OFF sequence by the time
set in the parameters.
Always use this function together with deceleration control.
When an emergency stop occurs in a vertical machining center, the Z axis is slightly pulled upwards before braking to
compensate the drop of even a few m caused by the brake backlash.
3-4-3 Earth fault detection
When an emergency stop is canceled, the earth fault current is measured using the power module's special switching
circuit before Servo ready ON.
Specifying the faulty axis is possible in this detection, as the detection is carried out for each axis.
Spindle
During an emergency stop
Motor brake of gravity axis
P ul
l u p
3 Function Specifications
MITSUBISHI CNC
3 - 18
3-4-4 Collision detection function
Collision detection function quickly detects a collision of the motor shaft, and decelerates and stops the motor. This
suppresses the generation of an excessive torque in the machine tool, and helps to prevent an abnormal state from
occurring.Impact at a collision will not be prevented by using this collision detection function, so this function does not
necessarily guarantee that the machine tool will not be damaged or that the machine accuracy will be maintained after a
collision.
The same caution as during regular operation is required to prevent the machine from colliding.
3-4-5 Safety observation function
This function is aimed at allowing a safety access to the machine's working part by opening the protection door, etc.
without shutting the power for saving the setup time.
Both the NC control system and drive system (servo and spindle drive units) doubly observe the axis feed rate so that it
will not exceed the safety speed. If it exceeds the set safety speed, emergency stop occurs and the power is shut OFF.
Collision detection function outline
(a) A collision of machine is detected. (b) A retracting torque is generated. The collision of machine is reduced.
Motor encoderCurrent command
Speed F/B
Drive CPUNC CPU
FB speed observationFB speed observation
Command speed observation
Command speed observation
Speed observation Speed observation
Servo control
Position speed
command
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-5 Sequence functions
3 - 19
3-5 Sequence functions 3-5-1 Contactor control function
With this function, the contactor ON/OFF command is output from the power supply unit (or servo/spindle drive unit for
integrated type) based on the judgement as to whether it is in emergency stop, emergency stop cancel, spindle
deceleration and stop or vertical axis drop prevention control, etc.
3-5-2 Motor brake control function
With this function, the brake ON/OFF command is output from the servo drive unit based on the judgement as to whether
it is in emergency stop, emergency stop cancel or vertical axis drop prevention/pull-up control, etc.
When a multiaxis drive unit is connected, all the axes are simultaneously controlled.
3-5-3 External emergency stop function
Besides the emergency stop input from the NC, double-protection when an emergency stop occurs can be provided by
directly inputting an external emergency stop, which is a second emergency stop input, to the power supply unit (servo/
spindle drive unit for integrated type).
Even if the emergency stop is not input from NC for some reason, the contactors will be activated by the external
emergency stop input, and the power can be shut off.
MDS-D-SVJ3/SPJ3
CN1A OPT1
EMG
MDS-D-SVJ3/SPJ3
CN1B CN1A
CN9 CN9
3 DOCOM
13 DO 15 MC
20 EMGX 19 DI 5 DICOM
3 DOCOM
13 DO 15 MC
20 EMGX 19 DI 5 DICOM
24G
MDS-D-SVJ3/SPJ3
CN1A OPT1
EMG
MDS-D-SVJ3/SPJ3
CN1B CN1A
CN9 CN9
3 DOCOM
13 DO 15 MC
20 EMGX 19 DI 5 DICOM
3 DOCOM
13 DO 15 MC
20 EMGX 19 DI 5 DICOM
(1)
(2)
24G
24G
Mitsubishi NC
Emergency stop
Emergency stop
Alarm Alarm
Optical communication
G380 cable
Optical communication
G396 cable
24VDC
External emergency stop input
Contactor shutoff command
Contactor shutoff command
24VDC
External emergency stop switch
*Emergency stop when opened. *Operated synchronously on the NC side using another contact.
(Note1) Make sure that DICOM is connected to 24V in all drive systems. (Note2) Make sure that 24G is connected to the external emergency stop switch. (Note3) Make sure that the contact of the external emergency stop switch is not the same as NC.
Mitsubishi NC
Emergency stop
Emergency stop
Alarm Alarm
Optical communication
G380 cable
Optical communication
G396 cable
External emergency stop input
Contactor shutoff command
Contactor shutoff command
External emergency stop switch
*Emergency stop when opened. *Operated synchronously on the NC side using another contact.
(Note1) Make sure that DICOM is connected to 24G in all drive systems. (Note2) Make sure that 24V is connected to the external emergency stop switch. (Note3) Make sure that the contact of the external emergency stop switch is not the same as NC.
When DICOM is connected to 24V
When DICOM is connected to 24G
External power supply is required for output.
Open collector
24VDC
Select the polarity of DICOM
3 Function Specifications
MITSUBISHI CNC
3 - 20
3-5-4 Specified speed output
This function is to output a signal that indicates whether the machine-end speed has exceeded the speed specified with
the parameter.
With this function, the protection door, etc. can be locked to secure the machine operator when the machine-end speed
has exceeded the specified speed. This function can also be used for judging whether the current machine-end speed is
higher than the specified speed.
3-5-5 Quick READY ON sequence
With this function, the charging time during READY ON is shortened according to the remaining charge capacity of the
power supply unit. When returning to READY ON status immediately after the emergency stop input, the charging time
can be shortened according to the remaining charge capacity and the time to READY ON is shortened.
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-6 Diagnosis function
3 - 21
3-6 Diagnosis function 3-6-1 Monitor output function
Drive unit has a function to D/A output the various control data. The servo adjustment data required for setting the servo
parameters to match the machine can be D/A output. Measure using a high-speed waveform recorder, oscilloscope, etc.
(1) D/A output specifications
When the output data is 0, the offset voltage is 2.5V. If there is an offset voltage, adjust the zero level position in the
measuring instrument side.
Item Explanation
No. of channels 2ch
Output cycle 0.8ms (min. value)
Output precision 10bit
Output voltage range 0V to 2.5V (zero) to +5V
Output magnification setting -32768 to 32767 (1/100-fold)
Output pin (CN9 connector) MO1 = Pin 4, MO2 = Pin 14, LG = Pin 1,11
9
MO1
LG
2
5
1
6
4 3
10
7 8
CN9
19
MO2
LG
12
15
11
16
14 13
20
17 18
MDS-D-SVJ3
connector Pin Name Pin Name
+2.5 [V]
0 [V]
Speed FB
Current FB
+2.5 [V]
0 [V] +5 [V]
+5 [V]
Example of D/A output waveform
3 Function Specifications
MITSUBISHI CNC
3 - 22
(2) Output data settings
(Standard output)
#2261 SV061 DA1NO D/A output ch1 data No.
Input the data number you wish to output to the D/A output channel 1. When using the 2-axis drive unit, set "-1" to the axis that the data will not be output.
---Setting range--- -1 to 127
#2262 SV062 DA2NO D/A output ch2 data No.
Input the data number you wish to output to the D/A output channel 2. When using the 2-axis drive unit, set "-1" to the axis that the data will not be output.
---Setting range--- -1 to 127
(Note) The estimated load inertia ratio (unit: 100%/V) is applied for the rotary motor, and the moving sections
gross weight (unit: 100kg/V) for the linear motor.
No. Output data Standard output unit Output cycle
Linear axis Rotary axis
-1 D/A output not selected For 2-axis drive unit (MDS-D/DH-V2). Set the parameters to another axis in the drive unit that is not D/A output.
0 Commanded rotation speed 1000(r/min)/V 0.8ms
1 Motor rotation speed 1000(r/min)/V 0.8ms
2 Torque command Motor stall rated ratio 100%/V 0.8ms
3 Torque feedback Motor stall rated ratio 100%/V 0.8ms
6 Effective current command 100%/V 0.8ms
7 Effective current feedback 100%/V 0.8ms
8 Machine vibration frequency 500Hz/V 0.8ms
9 HAS control droop cancel amount 1mm/V 1/V 0.8ms
30 Collision detection estimated torque 100%/V 0.8ms
31 Collision detection disturbance estimated
torque 100%/V 0.8ms
32 Estimated load inertia ratio
or moving sections gross weight 100%/V or 100kg/V (Note) 0.8ms
35 Disturbance observer estimated disturbance
torque 100%/V 0.8ms
50 Position droop 1m/V 1/1000/V 0.8ms
51 Position command 1m/V 1/1000/V 0.8ms
52 Position feedback 1m/V 1/1000/V 0.8ms
53 Position FT 1m/s/V 1/1000/s/V 0.8ms
54 Deviation from ideal position
(considering servo tracking delay) 1m/V 1/1000/V 0.8ms
60 Position droop 1mm/V 1/V 0.8ms
61 Position command 1mm/V 1/V 0.8ms
62 Position feedback 1mm/V 1/V 0.8ms
63 Position FT 1mm/s/V 1/s/V 0.8ms
64 Deviation from ideal position
(considering servo tracking delay) 1mm/V 1/V 0.8ms
70 Position droop 1m/V 1000/V 0.8ms
71 Position command 1m/V 1000/V 0.8ms
72 Position feedback 1m/V 1000/V 0.8ms
73 Position FT 1m/s/V 1000/s/V 0.8ms
74 Deviation from ideal position
(considering servo tracking delay) 1m/V 1000/V 0.8ms
126 Saw tooth wave 0V to 5V 0.8ms
127 2.5V test data 2.5V 0.8ms
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-6 Diagnosis function
3 - 23
(Servo control signal)
Servo control input (NC to Servo) Servo control output (Servo to NC) No. Details No. Details
16384 Servo control input 1-0 READY ON command 16480 Servo control output 1-0 In READY ON
16385 Servo control input 1-1 Servo ON command 16481 Servo control output 1-1 In servo ON
16388 Servo control input 1-4 Position loop gain changeover command
16484 Servo control output 1-4 In position loop gain changeover
16390 Servo control input 1-6 Excessive error detection width changeover command
16486 Servo control output 1-6 In excessive error detection width changeover
16391 Servo control input 1-7 Alarm reset command 16487 Servo control output 1-7 In alarm
16392 Servo control input 1-8 Current limit selection command
16488 Servo control output 1-8 In current limit selection
16492 Servo control output 1-C In in-position
16493 Servo control output 1-D In current limit
16494 Servo control output 1-E In absolute position data loss
16495 Servo control output 1-F In warning
16496 Servo control output 2-0 Z phase passed
16499 Servo control output 2-3 In zero speed
16503 Servo control output 2-7 In external emergency stop
16416 Servo control input 3-0 Control axis detachment command
16512 Servo control output 3-0 In control axis detachment
3 Function Specifications
MITSUBISHI CNC
3 - 24
< Spindle drive unit >
Drive unit has a function to D/A output each control data. The spindle adjustment data required to set the spindle
parameters matching the machine can be D/A output. The data can be measured with a high-speed waveform recorder
or oscilloscope, etc.
(1) D/A output specifications
When the output data is 0, the offset voltage is 2.5V. If there is an offset voltage, adjust the zero level position in the
measuring instrument side.
Item Explanation
No. of channels 2ch
Output cycle 0.8ms (min. value)
Output precision 10bit
Output voltage range 0V to 2.5V (zero) to +5V
Output magnification setting -32768 to 32767 (1/100-fold)
Output pin (CN9 connector) MO1 = Pin 4, MO2 = Pin 14, LG = Pin 1,11
9
MO1
LG
2
5
1
6
4 3
10
7 8
CN9
19
MO2
LG
12
15
11
16
14 13
20
17 18
MDS-D-SPJ3
Pin PinName Name connector
+2.5 [V]
0 [V]
Speed FB
Current FB
+2.5 [V]
0 [V] +5 [V]
+5 [V] Scroll
Memory
Example of D/A output waveform
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-6 Diagnosis function
3 - 25
(2) Output data settings
(Standard output)
#13125 SP125 DA1NO D/A output ch1 data No.
Input the desired data number to D/A output channel.
---Setting range--- -32768 to 32767
#13126 SP126 DA2NO D/A output ch2 data No.
Input the desired data number to D/A output channel.
---Setting range--- -32768 to 32767
(Note) Load meter displays "100%(=2.5V)" when the control power turns ON and the NC is starting. After the NC
has been run, it displays "0%(=0V%)".
No. Output data Output unit for standard setting Output cycle
-1 D/A output stop -
0 Commanded motor rotation speed 1000(r/min)/V 0.8ms(min)
1 Motor rotation speed 1000(r/min)/V 0.8ms(min)
2 Torque current command Short time rated ratio 100%/V 0.8ms(min)
3 Torque current feedback Short time rated ratio 100%/V 0.8ms(min)
35 Disturbance observer estimated disturbance torque
Short time rated torque current value ratio 100%/V
0.8ms(min)
50 Position droop 1/1000/V 0.8ms(min)
51 Position command 1/1000/V 0.8ms(min)
52 Position feedback 1/1000/V 0.8ms(min)
53 Position F T 1/1000/s/V 0.8ms(min)
54 Deviation from ideal position (considering spindle tracking delay)
1/1000/V 0.8ms(min)
60 Position droop 1/V 0.8ms(min)
61 Position command 1/V 0.8ms(min)
62 Position feedback 1/V 0.8ms(min)
63 Position F T 1/s/V 0.8ms(min)
64 Deviation from ideal position (considering spindle tracking delay)
1/V 0.8ms(min)
70 Position droop 1000/V 0.8ms(min)
71 Position command 1000/V 0.8ms(min)
72 Position feedback 1000/V 0.8ms(min)
73 Position F T 1000/s/V 0.8ms(min)
74 Deviation from ideal position (considering spindle tracking delay)
1000/V 0.8ms(min)
110 3.0V output load meter (Note) 40%/V, 120%/3V 0.8ms(min)
126 Saw tooth wave 0V to 5V 0.8ms(min)
127 2.5V test data output 2.5V 0.8ms(min)
3 Function Specifications
MITSUBISHI CNC
3 - 26
(Special output)
The result of PLG(TS5690) installation accuracy diagnosis is output to D/A output. D/A output
magnification:SP127(DA1MPY) and SP128(DA2MPY) is 0.
PLG installation diagnosis function can be enabled during the rotation, when open loop control is
enabled:SP018(SPEC2)/bit1=1.
D/A output No.
Details Description
120 Motor end PLG installation Gap diagnosis
Motor end PLG installation gap is diagnosed. When the gap is good, 2.5V is output. When the gap is excessive, 2.5V+1V is output. When the gap is too small, 2.5V-1V is output.
121 Motor end PLG installation All errors diagnosis
Motor end PLG installation error (including the gap) is diagnosed. When the installation is good, 2.5V is output. When the installation is incorrect, 2.5V+1V is output.
122 Spindle end PLG installation Gap diagnosis
Spindle end PLG installation gap is diagnosed. Diagnostic procedure is the same as that of motor end PLG.
123 Spindle end PLG installation All errors diagnosis
Spindle end PLG installation error (including the gap) is diagnosed. Diagnostic procedure is the same as that of motor end PLG.
MDS-D-SVJ3/SPJ3 Series Specifications Manual
3-6 Diagnosis function
3 - 27
(Spindle control signal)
(Note 1) Control signal is bit output. Setting the No. of the table above to the data output(SP125, SP126), and when the
scale (SP127, SP128) is set to "0", the output is "0V" for bit 0, and "2.5V" for bit 1.
(Note 2) Refer to the section "Spindle control signal" in Instruction Manual for details on the spindle control signal.
Spindle control input (NC to Spindle) Spindle control output (Spindle to NC) No. Details No. Details
16384 Spindle control input 1-0 READY ON command 16480 Spindle control output 1-0 In ready ON
16385 Spindle control input 1-1 Servo ON command 16481 Spindle control output 1-1 In servo ON
16391 Spindle control input 1-7 Alarm reset command 16487 Spindle control output 1-7 In alarm
16392 Spindle control input 1-8 Torque limit 1 selection command
16488 Spindle control output 1-8 In torque limit 1 selection
16393 Spindle control input 1-9 Torque limit 2 selection command
16489 Spindle control output 1-9 In torque limit 2 selection
16394 Spindle control input 1-A Torque limit 3 selection command
16490 Spindle control output 1-A In torque limit 3 selection
16492 Spindle control output 1-C In in-position
16495 Spindle control output 1-F In warning
16496 Spindle control output 2-0 Z phase passed
16499 Spindle control output 2-3 In zero speed
16503 Spindle control output 2-7 In external emergency stop
16432 Spindle control input 4-0 Spindle control mode selection command 1
16528 Spindle control output 4-0 In spindle control mode selection 1
16433 Spindle control input 4-1 Spindle control mode selection command 2
16529 Spindle control output 4-1 In spindle control mode selection 2
16434 Spindle control input 4-2 Spindle control mode selection command 3
16530 Spindle control output 4-2 In spindle control mode selection 3
16436 Spindle control input 4-4 Gear changeover command 16532 Spindle control output 4-4 In gear changeover command
16437 Spindle control input 4-5 Gear selection command 1 16533 Spindle control output 4-5 In gear selection 1
16438 Spindle control input 4-6 Gear selection command 2 16534 Spindle control output 4-6 In gear selection 2
16545 Spindle control output 5-1 Speed detection
16459 Spindle control input 5-B Minimum excitation rate 2 changeover request
16555 Spindle control output 5-B In minimum excitation rate 2 selection
16460 Spindle control input 5-C Speed gain set 2 changeover request
16556 Spindle control output 5-C In speed gain set 2 selection
16461 Spindle control input 5-D Zero point re-detection request
16557 Spindle control output 5-D Zero point re-detection complete
16462 Spindle control input 5-E Spindle holding force up 16558 Spindle control output 5-E Spindle holding force up completed
16559 Spindle control output 5-F In 2nd in-position
3 Function Specifications
MITSUBISHI CNC
3 - 28
3-6-2 Machine resonance frequency display function
If resonance is generated and it causes vibrations of the current commands, this function estimates the vibration
frequency and displays it on the NC monitor screen (AFLT frequency).
This is useful in setting the notch filter frequencies during servo adjustment. This function constantly operates with no
need of parameter setting.
3-6-3 Machine inertia display function
With this function, the load current and acceleration rate during motor acceleration are measured to estimate the load
inertia.
According to the parameter setting, the estimated load inertia is displayed on the NC monitor screen, expressed as its
percentage to the motor inertia.
3-6-4 Motor temperature display function
The temperature sensed by the thermal sensor attached to the motor coil is displayed on the NC screen.
(Note) This function is only compatible with Spindle motor.
3-6-5 Load monitor output function
A spindle motor's load is output as an analog voltage of 0 to 3V (0 to 120%). To use this function, connect a load meter
that meets the specifications.
3-6-6 Open loop control function
This function is to run a spindle motor for operation check before or during the adjustment of the spindle motor's encoder.
This allows the operation in which no encoder feedback signals are used.
4 - 1
4
Characteristics
4 Characteristics
MITSUBISHI CNC
4 - 2
4-1 Servo motor 4-1-1 Environmental conditions
4-1-2 Quakeproof level
The vibration conditions are as shown below.
Environment Conditions Ambient temperature 0C to +40C (with no freezing) Ambient humidity 80% RH or less (with no dew condensation) Storage temperature -15C to +70C (with no freezing) Storage humidity 90% RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight)
No corrosive gas, inflammable gas, oil mist or dust
Altitude Operation / storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
Motor type Acceleration direction
Axis direction (X) Direction at right angle to axis (Y) HF75, 105
24.5m/s2 (2.5G) or less 24.5m/s2 (2.5G) or lessHF54, 104, 154, 224, 123, 223, 142
HF204, 354, 303, 302 24.5m/s2 (2.5G) or less 29.4m/s2 (3G) or less
HF-KP13, 23, 43, 73 49m/s2 (5G) or less 49m/s2 (5G) or less
Speed (r/min) 0 1000 2000 3000
Vi br
at io
n am
pl itu
de
(d ou
bl e-
sw ay
w id
th ) (
m
)
20
30 40 50 60 80
100
200
Y X
Servo motor
Acceleration
MDS-D-SVJ3/SPJ3 Series Specifications Manual
4-1 Servo motor
4 - 3
4-1-3 Shaft characteristics
There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction
and thrust direction, when mounted on the machine, is below the tolerable values given below. These loads may affect
the motor output torque, so consider them when designing the machine.
(Note 1) The tolerable radial load and thrust load in the above table are values applied when each motor is used
independently.
(Note 2) The symbol L in the table refers to the value of L below.
L: Length from flange installation surface to center of load mass [mm]
Servo motor Tolerable radial load Tolerable thrust load HF75T, 105T (Taper shaft) 245N (L=33) 147N HF75S, 105S (Straight shaft) 245N (L=33) 147N HF54T, 104T, 154T, 224T,123T, 223T, 142T (Taper shaft) 392N (L=58) 490N HF54S, 104S, 154S, 224S,123S, 223S, 142S (Straight shaft) 980N (L=55) 490N HF204S, 354S, 303S, 302S (Straight shaft) 2058N (L=79) 980N HF-KP13 (Straight shaft) 88N (L=25) 59N HF-KP23, 43 (Straight shaft) 245N (L=30) 98N HF-KP73 (Straight shaft) 392N (L=40) 147N
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 apply the loads exceeding the tolerable level. Failure to observe this may lead to the
axis or bearing damage.
Radial load
Thrust load
L
CAUTION
4 Characteristics
MITSUBISHI CNC
4 - 4
4-1-4 Machine accuracy
Machine accuracy of the servo motor's output shaft and around the installation part is as below.
(Excluding special products)
Accuracy (mm) Measurement
point Flange size [mm]
Less than 100 100 SQ., 130 SQ. 176 SQ. - 250 SQ. 280 or over Amplitude of the flange surface to the output shaft
a 0.05 0.06 0.08 0.08
Amplitude of the flange surface's fitting outer diameter
b 0.04 0.04 0.06 0.08
Amplitude of the output shaft end c 0.02 0.02 0.03 0.03
a c b
MDS-D-SVJ3/SPJ3 Series Specifications Manual
4-1 Servo motor
4 - 5
4-1-5 Oil / water standards
(1) The motor protective format uses the IP type, which complies with IEC Standard. (Refer to the section 2-1-1
Specifications list".) However, these Standards are short-term performance specifications. They do not guarantee
continuous environmental protection characteristics. Measures such as covers, etc., must be taken if there is any
possibility that oil or water will fall on the motor, and the motor will be constantly wet and permeated by water. Note that
the motor's IP-type is not indicated as corrosion-resistant.
(2) When a gear box is installed on the servo motor, make sure that the oil level height from the center of the shaft is higher
than the values given below. Open a breathing hole on the gear box so that the inner pressure does not rise.
Servo motor Oil level (mm) HF75, 105 15 HF54, 104, 154, 224, 123, 223, 142 22.5 HF204, 354, 303, 302 30 HF-KP13 9.5 HF-KP23, 43 12.5 HF-KP73 15
Oil or water
Servo motor
Gear Servo motor
Oil seal
Oil level
Lip
4 Characteristics
MITSUBISHI CNC
4 - 6
(3) When installing the servo motor horizontally, set the connector to face downward. When installing vertically or on an
inclination, provide a cable trap because the liquid such as oil or water may enter the motor from the connector by
running along the cable.
4-1-6 Installation of servo motor
Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation
effect:
(Note 1) These flange sizes are recommended dimensions when the flange material is an aluminum.
(Note 2) If enough flange size cannot be ensured, ensure the cooling performance by a cooling fan or operate the
motor in the state that the motor overheat alarm does not occur.
4-1-7 Overload protection characteristics
The servo drive unit has an electronic thermal relay to protect the servo motor and servo drive unit from overloads. The
operation characteristics of the electronic thermal relay are shown below when standard parameters (SV021=60,
SV022=150) are set. If overload operation over the electronic thermal relay protection curve shown below is carried out,
overload 1 (alarm 50) will occur. If the maximum torque is commanded continuously for one second or more due to a
machine collision, etc., overload 2 (alarm 51) will occur.
1. The servo motors, including those having IP67 specifications, do not have a completely
waterproof (oil-proof) structure. Do not allow oil or water to constantly contact the motor,
enter the motor, or accumulate on the motor. Oil can also enter the motor through cutting
chip accumulation, so be careful of this also.
2. Oil may enter the motor from the clearance between the cable and connector. Protect with
silicon not to make the clearance.
3. When the motor is installed facing upwards, take measures on the machine side so that
gear oil, etc., does not flow onto the motor shaft.
Flange size (mm)
Servo Motor HF, HF-KP
150x150x6 50 to 100W 250x250x6 200 to 400W
250x250x12 0.5 to 1.5kW 300x300x20 2.0 to 7.0kW 800x800x35 9.0 to 11.0kW
Cable trap
CAUTION
MDS-D-SVJ3/SPJ3 Series Specifications Manual
4-1 Servo motor
4 - 7
< HF Series >
HF75 HF105
HF54 HF104
HF154 HF224
HF204 HF354
HF123 HF223
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500 600 700
Motor current value (stall rated current value ratio %)
Ti m
e s
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500
Motor current value (stall rated current value ratio %)
Ti m
e s
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500 600 700
Motor current value (stall rated current value ratio %)
T im
e s
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500 600 700
Motor current value (stall rated current value ratio %)
T im
e s
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500 600 700
Motor current value (stall rated current value ratio %)
T im
e s
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500
Motor current value (stall rated current value ratio %)
Ti m
e s
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500
Motor current value (stall rated current value ratio %)
Ti m
e s
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500
Motor current value (stall rated current value ratio %)
T im
e s
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500
Motor current value (stall rated current value ratio %)
Ti m
e s
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500
Motor current value (stall rated current value ratio %)
Ti m
e s
When stopped
When rotating
4 Characteristics
MITSUBISHI CNC
4 - 8
HF303 HF142
HF302
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500
Motor current value (stall rated current value ratio %)
Ti m
e s
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500
Motor current value (stall rated current value ratio %)
Ti m
e s
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500
Motor current value (stall rated current value ratio %)
Ti m
e s
When stopped
When rotating
MDS-D-SVJ3/SPJ3 Series Specifications Manual
4-1 Servo motor
4 - 9
< HF-KP Series >
HF-KP13 HF-KP23
HF-KP43 HF-KP73
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500
Motor current value (stall rated current value ratio %)
Ti m
e s
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500
Motor current value (stall rated current value ratio %)
Ti m
e s
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500
Motor current value (stall rated current value ratio %)
Ti m
e s
When stopped
When rotating
0.1
1.0
10.0
100.0
1000.0
10000.0
0 100 200 300 400 500
Motor current value (stall rated current value ratio %)
Ti m
e s
When stopped
When rotating
4 Characteristics
MITSUBISHI CNC
4 - 10
4-1-8 Magnetic brake
(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 are the same as the motor without
brake.
(d) Cautions for 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.
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 servo motor 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 servo motor are coupled with a timing 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 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.
CAUTION
Motor
Timing belt
Ball screw
Brake
Top
Bottom
Lo ad
Motor (No brakes)
Timing belt
Ball screw
Top
Bottom
Lo ad
Brake
MDS-D-SVJ3/SPJ3 Series Specifications Manual
4-1 Servo motor
4 - 11
(2) Magnetic brake characteristics
< HF Series >
< HF-KP Series >
(Note 1) There is no manual release mechanism. If handling is required such as during the machine core alignment work,
prepare a separate 24VDC power supply, and electrically release a brake.
(Note 2) These are the values added to the servo motor without a brake.
(Note 3) This is the representative value for the initial attraction gap at 20C.
(Note 4) The brake gap will widen through brake lining wear caused by braking. However, the gap cannot be adjusted. Thus,
the brake life is considered to be reached when adjustments are required.
(Note 5) A leakage flux will be generated at the shaft end of the servo motor with a magnetic brake.
(Note 6) When operating in low speed regions, the sound of loose brake lining may be heard. However, this is not a problem
in terms of function.
Item
Motor type
HF75B, HF105B
HF54B, HF104B HF154B,HF224B HF123B, HF223B
HF142B
HF204B, HF354B HF303B, HF302B
Type (Note 1) Spring closed non-exciting operation magnetic brakes
(for maintenance and emergency braking) Rated voltage 24VDC Rated current at 20C (A) 0.38 0.8 1.4 Capacity (W) 9 19 34 Static friction torque (Nm) 2.4 8.3 43.1
Inertia (Note 2) (10-4kgm2) 0.2 2.2 9.7
Release delay time (Note 3) (s) 0.03 0.04 0.1 Braking delay time (DC OFF) (Note 3) (s) 0.03 0.03 0.03
Tolerable braking work amount
Per braking (J) 64 400 4,500 Per hour (J) 640 4,000 45,000
Brake play at motor axis (degree) 0.1 to 0.9 0.2 to 0.6 0.2 to 0.6
Brake life (Note 4)
No. of braking operations (times)
20,000 20,000 20,000
Work amount per braking (J)
32 200 1,000
Item Motor type
HF-KP13B HF-KP23B, HF-KP43B HF-KP73B
Type (Note 1) Spring closed non-exciting operation magnetic brakes
(for maintenance and emergency braking) Rated voltage 24VDC Rated current at 20C(A) 0.26 0.33 0.42 Capacity (W) 6.3 7.9 10 Static friction torque (Nm) 0.32 1.3 2.4
Inertia (Note 2) (10-4kgm2) 0.002 0.08 0.2
Release delay time (Note 3) (s) 0.03 0.03 0.04 Braking delay time (DC OFF) (Note 3) (s) 0.01 0.02 0.02
Tolerable braking work amount
Per braking (J) 5.6 22 64 Per hour (J) 56 220 640
Brake play at motor axis (degree) 2.5 1.2 0.9
Brake life (Note 4)
No. of braking operations (times)
20,000 20,000 20,000
Work amount per braking (J)
5.6 22 64
4 Characteristics
MITSUBISHI CNC
4 - 12
(3) Magnetic brake power supply
(a) Brake excitation power supply
[1] Prepare a brake excitation power supply that can accurately ensure the attraction current in consideration of
the voltage fluctuation and excitation coil temperature.
[2] The brake terminal polarity is random. Make sure not to mistake the terminals with other circuits.
(b) Bake excitation circuit
When turning OFF the brake excitation power supply (to apply the brake), DC OFF is used to shorten the braking
delay time.
A surge absorber will be required. Pay attention to the relay cut off capacity.
Provide sufficient DC cut off capacity at the contact.
Always use a surge absorber.
When using the cannon plug type, the surge absorber will be further away, so use shielded wires between the
motor and surge absorber.
1. Always install a surge absorber on the brake terminal when using DC OFF.
2. Do not pull out the cannon plug while the brake power is ON. The cannon plug pins could
be damaged by sparks.
CAUTION
SW1 SW2
VAR1
ZD1
ZD2 VAR2
PS
24VDC
100VAC or 200VAC
(b) Example of DC OFF
PS ZD1,ZD2 VAR1,VAR2
Magnetic brake circuits
M ag
ne tic
b ra
ke 1
M ag
ne tic
b ra
ke 2
: 24VDC stabilized power supply : Zener diode for power supply protection (1W, 24V) : Surge absorber
MDS-D-SVJ3/SPJ3 Series Specifications Manual
4-1 Servo motor
4 - 13
4-1-9 Dynamic brake characteristics
If a servo alarm that cannot control the motor occurs, the dynamic brakes will function to stop the servo motor 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.
Max. deceleration torque of a dynamic brake
Motor type Stall torque
(Nm) Tdp
(Nm) Ndp
(r/min) HF75 2.0 2.71 4120 HF105 3.0 5.10 5544 HF54 2.9 1.98 1886 HF104 5.9 10.02 735 HF154 9.0 15.65 850 HF224 12.0 20.06 1042 HF204 13.7 15.97 617 HF354 22.5 35.25 908 HF123 7.0 9.79 561 HF223 12.0 19.95 686 HF303 22.5 30.43 550 HF142 11.0 14.43 427 HF302 20.0 29.42 396 HF-KP13 0.32 0.22 1522 HF-KP23 0.64 0.52 1062 HF-KP43 1.3 1.30 822 HF-KP73 2.4 1.48 3449
Tdp
Ndp0
Motor speed
Deceleration torque
Deceleration torque characteristics of a dynamic brake
4 Characteristics
MITSUBISHI CNC
4 - 14
(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.
Coasting amount calculation coefficients table
LMAX : Motor coasting distance (angle) [mm, (deg)]
F : Axis feedrate [mm/min, (deg/min)] N : Motor speed [r/min] JM : Motor inertia [10-4kgm2] JL : Motor shaft conversion load inertia [10-4kgm2] te : Brake drive relay delay time [s] (Normally, 0.03s)
A : Coefficient A (Refer to the next page) B : Coefficient B (Refer to the next page)
Motor type JM (10-4kgm2) A B
HF75 2.6 0.4110-9 20.6610-3
HF105 5.1 0.3110-9 29.0110-3
HF54 6.1 2.8510-9 30.4010-3
HF104 11.9 2.8210-9 4.5710-3
HF154 17.8 2.3410-9 5.0610-3
HF224 23.7 1.9810-9 6.4410-3
HF204 38.3 6.7810-9 7.7510-3
HF354 75.0 4.0910-9 10.1110-3
HF123 11.9 3.7810-9 3.5710-3
HF223 23.7 3.0210-9 4.2710-3
HF303 75.0 7.8210-9 7.1010-3
HF142 17.8 5.0410-9 2.7610-3
HF302 75.0 11.2310-9 5.2910-3
HF-KP13 0.88 0.2510-9 3.1210-3
HF-KP23 0.23 0.4110-9 2.4710-3
HF-KP43 0.42 0.3910-9 1.3910-3
HF-KP73 1.43 0.2710-9 17.4310-3
JM JL
LMAX 60 F
{ t e + 1 A N2 B }
N
Dynamic brake braking diagram
Motor speed
Actual dynamic brake operation
Dynamic brake control output
Emergency stop (EMG) OFF ON OFF ON OFF ON
te Time
Coasting amount
MDS-D-SVJ3/SPJ3 Series Specifications Manual
4-2 Spindle motor
4 - 15
4-2 Spindle motor 4-2-1 Environmental conditions
4-2-2 Shaft characteristics
There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction,
when mounted on the machine, is below the tolerable values given below. These loads may affect the motor output
torque, so consider them when designing the machine.
Environment Conditions Ambient temperature 0C to +40C (with no freezing) Ambient humidity 90% RH or less (with no dew condensation) Storage temperature -20C to +65C(with no freezing) Storage humidity 90% RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight);
no corrosive gas, inflammable gas, oil mist or dust
Altitude Operation/storage: 1000m or less above sea level Transportation: 10000m or less above sea level
Spindle motor Tolerable radial load SJ-VL2.2ZT 196N SJ-VL11-10FZT 245N SJ-VL0.75-01T, SJ-VL1.5-01T 490N SJ-D3.7/100-01, SJ-DJ5.5/100-01 SJ-V2.2-01T, SJ-V3.7-01T, SJ-V5.5-01ZT, SJ-V7.5-01ZT, SJ-V7.5-03ZT, SJ-VL11-05FZT-S01, SJ-VL11-07ZT,
980N
SJ-D5.5/100-01, SJ-DJ7.5/100-01 1470N SJ-D7.5/100-01, SJ-D11/80-01, SJ-DJ11/100-01 SJ-V11-01ZT
1960N
Consider on the machine side so that the thrust loads are not applied to the spindle motor.
Radial load
(Note) The load point is at the one-half of the shaft length.
CAUTION
4 Characteristics
MITSUBISHI CNC
4 - 16
4-2-3 Machine accuracy
Machine accuracy of the spindle motor's output shaft and around the installation part is as below.
(Excluding special products)
(Note) Refer to Specifications Manual for the frame number of each spindle motor.
4-2-4 Installation of spindle motor
Make sure that the spindle motor is installed so that the motor shaft points from downward to 90 as shown below. When
installing upward more than 90, contact your Mitsubishi Electric dealer.
The spindle motor whose motor power line and detection lead wires are connected with connectors, as a standard,
should be installed with the connectors facing down. Installation in the standard direction is effective against dripping.
Measure to prevent oil and water must be taken when not installing in the standard direction.
To yield good cooling performance, provide a space of at least 30mm
between the cooling fan and wall. If the motor is covered by a structure and
the air is not exchanged, its cooling performance degrades and the motor is
unable to fully exercise its performance, which may cause the spindle
motor overheat alarm. Do not use the spindle motor in an enclosed space
with little ventilation.
Accuracy Measurement
point Frame No.
A71, B71, A90, B90, D90, A112, B112
Run-out of the flange surface to the output shaft a 0.03mm
Run-out of the flange surface's fitting outer diameter b 0.02mm
Run-out of the output shaft end c 0.01mm
1. Rubber packing for waterproof is attached on the inner surface of the top cover of terminal
block.
After checking that the packing is installed, install the top cover.
2. When installing a motor on a flange, chamfer(C1) the part of flange that touches inside low
part of the motor.
a c b
Standard installation direction for connector connection type
Down
Up
CAUTION
wall
Cooling fan
30mm or more
MDS-D-SVJ3/SPJ3 Series Specifications Manual
4-3 Tool spindle motor
4 - 17
4-3 Tool spindle motor 4-3-1 Environmental conditions
4-3-2 Shaft characteristics
There is a limit to the load that can be applied on the motor shaft. Make sure that the load applied on the radial direction
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.
(Note 1) The tolerable radial load and thrust load in the above table are values applied when each motor is used
independently.
(Note 2) The symbol L in the table refers to the value of L below.
L: Length from flange installation surface to center of load mass [mm]
Environment Conditions Ambient temperature 0C to +40C (with no freezing) Ambient humidity 80% RH or less (with no dew condensation) Storage temperature -15C to +70C (with no freezing) Storage humidity 90% RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight)
No corrosive gas, inflammable gas, oil mist or dust
Altitude Operation / storage: 1000m or less above sea level
Transportation: 10000m or less above sea level
Tool spindle motor Tolerable radial load Tolerable thrust load HF-KP46, 56 245N (L=30) 98N HF-KP96 392N (L=40) 147N HF75S, 105S 245N (L=33) 147N HF54S, 104S, 154S, 224S, 123S, 223S 980N (L=55) 490N HF204S, 303S 2058N (L=79) 980N
Radial load
Thrust load
L
4 Characteristics
MITSUBISHI CNC
4 - 18
4-3-3 Tool spindle temperature characteristics
< HF-KP Series >
(Note1) The contour lines 20K to 100K in the graph indicate the temperature rising values from the start-up to
saturation.
(Note2) The motor temperature tends to rise in a high-speed rotation even if the load rate is low.
[ HF-KP46J(K)W09 ] [ HF-KP56J(K)W09 ]
[ HF-KP96J(K)W09 ]
0
20
40
60
80
100
0 2000 4000 6000
60K 80K 100K
40K
20K
Rotation speed [r/min]
Lo ad
ra te
[% ]
0
20
40
60
80
100
0 2000 4000 6000
40K 60K 80K
20K
Rotation speed [r/min]
Lo ad
ra te
[% ]
0
20
40
60
80
100
0 2000 4000 6000
40K 60K 80K20K
Rotation speed [r/min]
Lo ad
ra te
[% ]
MDS-D-SVJ3/SPJ3 Series Specifications Manual
4-4 Drive unit
4 - 19
4-4 Drive unit 4-4-1 Environmental conditions
(Note) When installing the machine at 1,000m or more above sea level, the heat dissipation characteristics
will drop as the altitude increases in proportion to the air density. The ambient temperature drops 1%
with every 100m increase in altitude.
When installing the machine at 1,800m altitude, the heating value of the drive unit must be reduced
to 92% or less. The heating value is proportional to the square of the current, and required current
decreasing rate follows the expression below.
Therefore, use the unit with the reduced effective load rate to 95% or less.
4-4-2 Heating value
Each heating value is calculated with the following values.
The values for the servo drive unit apply at the stall output. The values for the spindle drive unit apply for the continuous
rated output.
Environment Conditions Ambient temperature 0C to +55C (with no freezing) Ambient humidity 90% RH or less (with no dew condensation) Storage temperature -15C to +70C (with no freezing) Storage humidity 90% RH or less (with no dew condensation)
Atmosphere Indoors (no direct sunlight);
no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
Altitude Operation/storage: 1000m or less above sea level Transportation: 13000m or less above sea level
Vibration Operation/storage: 4.9m/s2 (0.5G) or less Transportation: 49m/s2(5G) or less
Servo drive unit Spindle drive unit
Type MDS-D-SVJ3-
Heating value [W]
Type MDS-D-SVJ3-
Heating value [W]
Inside panel Inside panel
03NA 25 075NA 50
04NA 35 22NA 90
07NA 50 37NA 130
10NA 90 55NA 150
20NA 130 75NA 200
35NA 195 110NA 300
1. Design the panel's heating value taking the actual axis operation (load rate) into
consideration.
2.The heating values in the above tables are calculated with the following load rates.
0.92 = 0.95Required current decreasing rate =
POINT
50%
100%
Unit Load rate
Servo drive unit
Spindle drive unit
4 Characteristics
MITSUBISHI CNC
4 - 20
5 - 1
5
Dedicated Options
5 Dedicated Options
MITSUBISHI CNC
5 - 2
5-1 Servo options The option units are required depending on the servo system configuration. Check the option units to be required referring the
following items.
(1) System establishment in the full closed loop control
Refer to the table below to confirm the interface unit (I/F) and battery option required for the full closed loop control.
(a) Full closed loop control for linear axis
(Note) When using the distance-coded reference scale, it is recommended to use with distance-coded reference check
function. In this case, the battery option is required.
Machine side encoder to be used Encoder signal
output Interface unit
Drive unit input signal
Battery option
Remarks
Incremental encoder
Rectangular wave signal
output
SR74, SR84 (MAGNESCALE)
Rectangular wave signal
- Rectangular wave signal
-
Various scale Rectangular wave
signal -
Rectangular wave signal
-
SIN wave signal output
LS187, LS487 (HEIDENHAIN)
SIN wave signal
IBV series (HEIDENHAIN)
Rectangular wave signal
-
EIB series (HEIDENHAIN)
Mitsubishi serial signal
-
Various scale SIN wave signal MDS-B-HR-11(P)
(MITSUBISHI ELECTRIC) Mitsubishi
serial signal (Required)
Note
Distance-coded reference
scale is also available
Mitsubishi serial signal
output
SR75, SR85 (MAGNESCALE)
Mitsubishi serial signal
- Mitsubishi
serial signal -
Absolute position encoder
Mitsubishi serial signal output
OSA105ET2A (MITSUBISHI)
Mitsubishi serial signal
- Mitsubishi
serial signal Required
Ball screw end encoder
SR77, SR87 (MAGNESCALE)
Mitsubishi serial signal
- Mitsubishi
serial signal Not required
LC193M, LC493M (HEIDENHAIN)
Mitsubishi serial signal
- Mitsubishi
serial signal Not required
AT343, AT543, AT545 (Mitutoyo)
Mitsubishi serial signal
- Mitsubishi
serial signal Not required
SAM Series (FAGOR)
Mitsubishi serial signal
- Mitsubishi
serial signal Not required
SVAM Series (FAGOR)
Mitsubishi serial signal
- Mitsubishi
serial signal Not required
GAM Series (FAGOR)
Mitsubishi serial signal
- Mitsubishi
serial signal Not required
LAM Series (FAGOR)
Mitsubishi serial signal
- Mitsubishi
serial signal Not required
SIN wave signal output
MPS Series (Mitsubishi Heavy Industries Machine Tool)
SIN wave signal ADB-20J60
(Mitsubishi Heavy Industries Machine Tool)
Mitsubishi serial signal
Required
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-1 Servo options
5 - 3
(b) Full closed loop control for rotary axis
- Magnescale Co., Ltd.: http://www.mgscale.com/mgs/language/english/
- HEIDENHAIN CORPORATION: http://www.heidenhain.com/
- Mitutoyo Corporation: http://www.mitutoyo.co.jp/eng/
- Mitsubishi Heavy Industries Machine Tool: http://www.mhi-machinetool.com/en/index.html
- FAGOR Automation: http://www.fagorautomation.com/
(2) System establishment in the synchronous control
(a) Position command synchronous control
The synchronous control is all executed in the NC, and the each servo is controlled as an independent axis.
Therefore, preparing special options for the synchronous control is not required on the servo side.
Machine side encoder to be used Encoder signal
output Interface unit
Output signal
Battery option
Remarks
Incremental encoder
Rectangular wave signal
output Various scale
Rectangular wave signal
- Rectangular wave signal
-
SIN wave signal output
ERM280 Series (HEIDENHAIN)
SIN wave signal EIB series
(HEIDENHAIN) Mitsubishi
serial signal -
Various scale SIN wave signal MDS-B-HR-11(P)
(MITSUBISHI ELECTRIC)
Mitsubishi serial signal
-
Absolute position encoder
Mitsubishi serial signal
output
RU77 (MAGNESCALE)
Mitsubishi serial signal
- Mitsubishi
serial signal Not required
RCN223M, RCN227M (HEIDENHAIN)
Mitsubishi serial signal
- Mitsubishi
serial signal Not required
RCN727M, RCN827M (HEIDENHAIN)
Mitsubishi serial signal
- Mitsubishi
serial signal Not required
SIN wave signal output
MPRZ Series (Mitsubishi Heavy Industries Machine Tool)
SIN wave signal ADB-20J71
(Mitsubishi Heavy Industries Machine Tool)
Mitsubishi serial signal
Not required
MPI Series (Mitsubishi Heavy Industries Machine Tool)
SIN wave signal ADB-20J60
(Mitsubishi Heavy Industries Machine Tool)
Mitsubishi serial signal
Required
The absolute position system cannot be established in combination with the relative position
(incremental) machine side encoder and absolute position motor side encoder.
When executing the synchronous control, use the servo motors of which the type and
encoder specifications are same.
POINT
POINT
5 Dedicated Options
MITSUBISHI CNC
5 - 4
5-1-1 Battery option
This battery option may be required to establish absolute position system. Refer to "Servo option" and use the following
battery option depending on the servo system.
Type MR-J3BAT MDS-BTBOX-36
Installation type Drive unit with battery holder type Unit and battery integration
type Hazard class Not applicable Not applicable Number of connectable axes 1 axis Up to 8 axes Battery change Possible Possible
Appearance
(1) (2)
1. When transporting lithium batteries with means such as by air transport, measures
corresponding to the United Nations Dangerous Goods Regulations must be taken. (Refer
to "Appendix 2 Restrictions for Lithium Batteries".)
2. The lithium battery must be transported according to the rules set forth by the International
Civil Aviation Organization (ICAO), International Air Transportation Association (IATA),
International Maritime Organization (IMO), and United States Department of Transportation
(DOT), etc. The packaging methods, correct transportation methods, and special
regulations are specified according to the quantity of lithium alloys. The battery unit
exported from Mitsubishi is packaged in a container (UN approved part) satisfying the
standards set forth in this UN Advisory.
3. To protect the absolute value, do not shut off the servo drive unit control power supply if
the battery voltage becomes low (warning 9F).
4. Contact the Service Center when replacing the battery.
5. The battery life (backup time) is greatly affected by the working ambient temperature. The
above data is the theoretical value for when the battery is used 8 hours a day/240 days a
year at an ambient temperature of 25C. Generally, if the ambient temperature increases, the
backup time and useful life will both decrease.
CAUTION
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-1 Servo options
5 - 5
(1) Cell battery (MR-J3BAT)
(a) Specifications
(Note 1) MR-J3BAT is a battery built in a servo drive unit. Install this battery only in the servo drive unit that
executes absolute position control.
(Note 2) This time is a guideline, so does not guarantee the back up time. Replace the battery with a new battery
as soon as a battery alarm occurs.
(b) Installing the cell battery
Battery option type Cell battery
MR-J3BAT (Note 1)
Battery model name ER6V
Nominal voltage 3.6V
Nominal capacity 2000mAh
Battery safety
Hazard class -
Battery shape Single battery
Number of batteries used
ER6V1
Lithium alloy content
0.7g
Mercury content 1g or less
Number of connectable axes 1 axis
Battery continuous backup time Approx. 20000 hours
Battery useful life (From date of unit manufacture)
7 years
Data save time in battery replacement
HF series: approx. 20 hours at time of delivery, approx. 10 hours after 5 years
Back up time from battery warning to alarm occurrence (Note 2)
Approx. 100 hours
Mass 20g
Insert the cable end connector of the battery into the BAT terminal of the drive unit.
When removing the battery, slide it pushing the stopper button of the case. When installing the battery, align it with the rails on the drive unit, and slide it until the stopper works.
5 Dedicated Options
MITSUBISHI CNC
5 - 6
(2) Battery box (MDS-BTBOX-36)
(a) Specifications
(Note 1) Install commercially-available alkaline dry batteries into MDS-BTBOX-36. The batteries should be procured by
customers. Make sure to use new batteries that have not passed the expiration date. We recommend you to
replace the batteries in the one-year cycle.
(Note 2) This time is a guideline, so does not guarantee the back up time. Replace the battery with a new battery as
soon as a battery warning (9F) occurs.
(b) Explanation of terminals
(c) Outline dimension drawings [Unit: mm]
MDS-D-SVJ3 Series have no battery voltage drop warning signal input.
To use MDS-BTBOX-36, be sure to use together with MDS-D/DH/DM Series.
Battery option type Battery box
MDS-BTBOX-36
Battery model name (Note 1) size-D alkaline batteries LR20 x 4 pieces
Nominal voltage 3.6V (Unit output), 1.5V (Isolated battery)
Number of connectable axes Up to 8 axes
Battery continuous backup time (Note 2) Approx. 10000 hours (when 8 axes are connected, cumulative time in non-energized state)
Back up time from battery warning to alarm occurrence (Note 2)
Approx. 336 hours (when 8 axes are connected)
Name Description
(1) Power supply output for absolute position encoder backup
BT 3.6V output for absolute position encoder backup
(2) LG Ground
(3) Power supply input for battery voltage drop detection circuit
+5V 5V power supply input for battery voltage drop detection circuit
(4) LG Ground
(5) Battery voltage drop warning signal output
DO(ALM) Battery voltage drop warning output
(6) DOCOM DO output common
As soon as the battery warning has occurred, replace the batteries with new ones.
Make sure to use new batteries that have not passed the expiration date. We recommend you
to replace the batteries in the one-year cycle.
When installing the battery box on the panel, it may be damaged if the screw is tightened too
much. Make sure the tightening torque of the screw.
CAUTION
103
10 3
102
89
87
70 .2
79 93 80
80 40
4-M4
Packing
Connection terminal block
Packing area
Flat head screw
Panel cut drawing
Square hole
(Tightening torque: 1.0Nm)
POINT
CAUTION
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-1 Servo options
5 - 7
(d) Cable connection procedure
When connecting the terminal block, select a cable for the terminal block referring to the applicable size as a guide.
Connect the cable by crimping the bare conductor or bar terminal. Do not pre-solder the wire.
- Processing of power insulator
The strip length of the wire insulator should be 11mm.
Retwist and straighten the core as shown below.
(e) Wiring of the battery voltage drop warning output
The battery voltage drop warning is detected in the MDS-BTBOX-36 and output to the servo drive unit as digital
signal.Connect the battery voltage drop warning signal to one of the servo drive units supported by MDS-BTBOX-
36. For the connected servo axis, set the servo parameter "SV082/bitF-C" to "2" to enable this signal input. When
using 2 or 3-axis drive unit, set the value to one of the axes and set other axes in the same unit to "0" (No signal).
Battery voltage drop warning signal connection diagram
2 20.2mm to 1.25mm
TUB-0.5 YHT-2622
< Recommended bar terminal > Type: Crimping tool:
Twisted wire: < Range of applicable terminal block cable >
11mm
Strip length
CoreSheath
Make sure to retwist and straighten the core
Unraveling or bending of core
MDS-BTBOX-36
DOCOM
DO(ALM)
24V
+5V LG
CN9 4 1
20
13
DG24
24G
Light blue
White
Blue Yellow
cable
(I/O power)
(I/O power)
Servo drive unit
5 Dedicated Options
MITSUBISHI CNC
5 - 8
(f) When backing up for more than 8 axes
Add a MDS-BTBOX-36 so that the number of connectable axes for a battery unit is 8 axes or less.
For all of servo drive units supported by one MDS-BTBOX-36, start the control powers ON simultaneously.
1. The battery voltage drop warning signal and SLS (Safely Limited Speed) function door state
signal cannot be connected to the same drive unit. To use these function together as a
system, connect to the different drive unit.
2. Battery voltage drop warning (9F) can also occur when the cable between the battery box
and drive unit is broken.
3. For 2-axis or 3-axis drive unit, the parameter error "E4" or drivers communication error "82"
occurs at all the axes when the setting of SV082(SSF5)/bitF-C differs according to axes
(except 0 setting).
4. The drive unit which is connected to the battery box and cell battery cannot be used
together.
5. Replace the batteries with new ones without turning the control power of the drive unit OFF
immediately after the battery voltage drop alarm (9F) has been detected.
6. Replace the batteries while applying the control power of all drive units which are
connected to the battery box.
7. When changing the wiring of the CN9 control input, change after SV082(SSF5)/bitF-C is set
to 0. Otherwise unexpected alarms can be detected because of a mismatch of the control
input signal and setting parameter.
8. Battery voltage drop warning (9F) is released by turning the drive unit power ON again after
replacing the battery.
CAUTION
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-1 Servo options
5 - 9
System configuration
1. MDS-D-SVJ3 Series have no battery voltage drop warning signal input. Connect to CN9 of
MDS-D/DH/DM Series servo drive unit.
2. 24V power for DO output must always be turned ON before the NC power input.
3. Spindle drive unit has no battery voltage drop warning function. Wiring to CN9 of drive unit
must be always connected to servo drive unit.
4. The total length of battery cable (from the battery unit to the last connected drive unit) must
be 3m or less.
DOCOM DO(ALM) LG +5V LG BT
(MDS-D/DH-V1) (MDS-D/DH-V2) (MDS-D/DH-SP) (MDS-D/DH-CV)
MDS-BTBOX-36
(MDS-D-SVJ3) (MDS-D-SVJ3)
I/O power
Battery box
1-axis servo drive unit
Spindle drive unit
Power supply unit
2-axis servo drive unit
From NC
Connect the +5V power and DO output with one of servo drive units.
Servo drive unit
Servo drive unit
When connecting a battery box to MDS-D-SVJ3, connect to the connector "BAT". (It is the same as that for the cell battery connection. )
CAUTION
5 Dedicated Options
MITSUBISHI CNC
5 - 10
5-1-2 Ball screw side encoder (OSA105ET2A)
(1) Specifications
(*1) The values above are typical values after the calibration with our shipping test device and are not guaranteed.
(*2) If the tolerable rotation speed at power off is exceeded, the absolute position cannot be repaired.
Encoder type OSA105ET2A
Electrical characteristics
Encoder resolution 1,000,000 pulse/rev
Detection method Absolute position method (battery backup method)
Accuracy (*1) 3 seconds
Tolerable rotation speed at power off (*2) 500r/min
Encoder output data Serial data
Power consumption 0.3A
Mechanical characteristics for
rotation
Inertia 0.5 x 10-4kgm2 or less
Shaft friction torque 0.1Nm or less
Shaft angle acceleration 4 x 104rad/s2 or less
Tolerable continuous rotation speed 4000r/min
Mechanical configuration
Shaft amplitude (position 15mm from end)
0.02mm or less
Tolerable load (thrust direction/radial direction)
9.8N/19.8N
Mass 0.6kg
Degree of protection IP65 (The shaft-through portion is excluded.)
Recommended coupling bellows coupling
Working environment
Ambient temperature 0C to +55C
Storage temperature -20C to +85C
Humidity 95%Ph
Vibration resistance 5 to 50Hz, total vibration width 1.5mm, each shaft for 30min
Impact resistance 490m/s2 (50G)
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-1 Servo options
5 - 11
(2) Outline dimension drawings
OSA105ET2A
(3) Explanation of connectors
Connector pin layout
Pin Function Pin Function 1 RQ 6 SD 2 RQ* 7 SD* 3 - 8 P5(+5V) 4 BAT 9 - 5 LG(GND) 10 SHD
70 DIA. 75 0
-0.020 DIA.2.7
2 1.
5
BB
B-B
A
A
30
2
56
14 75
0
-0 .0
20 D
IA .
80 DIA.
45
100 DIA.
85 SQ.
51 .8
60 .2
8.72
8. 72
(9 .5
2 D
IA .)
4-5.5 DIA.
10
24
CM10-R10P
A-A
[Unit ]
8
4 5 7 6
9 10
1 2 3
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MITSUBISHI CNC
5 - 12
5-1-3 Machine side encoder
The machine side encoders are all other manufacturer's parts, and must be prepared by the user.
(1) Relative position encoder
Depending on the output signal specifications, select a machine side relative position encoder with which the following
(a), (b) or (c) is applied.
(a) Serial signal type (serial conversion unit made by each manufacture)
The following serial conversion unit converts the encoder output signal and transmits the signal to the drive unit in
serial communication.
For details on the specifications of each conversion unit scale and for purchase, contact each corresponding
manufacture directly.
- Magnescale Co., Ltd: http://www.mgscale.com/mgs/language/english/
- HEIDENHAIN CORPORATION: http://www.heidenhain.com/
Manufacturer Encoder type Interface unit type Minimum detection
resolution Tolerable
maximum speed
Magnescale Co., Ltd SR75 SR85
Not required 0.1m
200m/min0.05m 0.01m
HEIDENHAIN
LS187 LS487
EIB192M A4 20m 0.0012m 120m/min
EIB392M A4 20m
ERM280 1200 EIB192M C4 1200 0.0000183
(19,660,800p/rev) 20000r/min
EIB392M C4 1200
ERM280 2048 EIB192M C6 2048 0.0000107
(33,554,432p/rev) 11718r/min
EIB392M C6 2048
The above value does not guarantee the accuracy of the system.CAUTION
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-1 Servo options
5 - 13
(b) SIN wave output (using MDS-B-HR)
When using a relative position encoder that the signal is the SIN wave output, the encoder output signal is
converted in the encoder conversion unit (MDS-B-HR), and then the signal is transmitted to the drive unit in the
serial communication. Select a relative position encoder with A/B phase SIN wave signal that satisfies the following
conditions. For details on the specifications of MDS-B-HR, refer to the section "MDS-B-HR".
- 1Vp-p analog A-phase, B-phase, Z-phase differential output
- Output signal frequency 200kHz or less
- Combination speed / rotation speed
In use of linear scale:
Maximum speed (m/min) = scale analog signal frequency (m) x 200,000 x 60
In use of rotary encoder:
Maximum rotation speed (r/min) = 200,000 / numbers of encoder scale (1/rev) x 60
An actual Maximum speed/ rotary speed is limited by the mechanical specifications and electrical
specifications, etc. of the connected scale, so contact the manufacture of the purchased scale.
- Division number 512 divisions per 1 cycle of signal
In use of linear scale:
Minimum resolution (m) = scale analog signal frequency (m) / 512
In use of rotary encoder:
Minimum resolution (pulse/rev) = numbers of encoder scale (1/rev) x 512
The above value does not guarantee the accuracy of the system.
2.5
360
-45 +45 -45 +45
[ ]
3.0
2.5
2.0
2.5
A phase B phase Voltage [V]
A/B phase output signal waveform during forward run
Time
Voltage [V] A phase
Z phase
Relationship between A phase and Z phase (When the differential output waveform is measured)
Angle
Zero crossover
CAUTION
5 Dedicated Options
MITSUBISHI CNC
5 - 14
(c) Rectangular wave output
Select a relative position encoder with an A/B phase difference and Z-phase width at the maximum feedrate that
satisfies the following conditions.
Use an A, B, Z-phase signal type with differential output (RS-422 standard product) for the output signal
(Note)The above value is minimum value that can be received normally in the servo drive unit side.
In an actual selection, ensure margin of 20% or more in consideration of degradation of electrical wave and speed
overshoot.
< Example of scale specifications >
The example of using representative rectangular wave scale is shown below.
For specifications of each conversion unit and scale and for purchase, Contact each corresponding manufacture directly.
- Magnescale Co., Ltd: http://www.mgscale.com/mgs/language/english/
- HEIDENHAIN CORPORATION: http://www.heidenhain.com/
Manufacturer Encoder type Interface unit type Minimum detection
resolution Tolerable maximum
speed
Magnescale Co., Ltd SR74 SR84
Not required
1.0m 180m/min 0.5m 125m/min 0.1m 25m/min 0.05m 12m/min
HEIDENHAIN LS187 LS487
IBV 101 (10 divisions) 0.5m 120m/min IBV 102 (100 divisions) 0.05m 24m/min
IBV 660B (400 divisions) 0.0125m 7.5m/min
1/4
Output circuit
A-phase
B-phase A, B, Z-phase
Z-phase
A, B, Z-phase Phase difference
Integer mm For a scale having multiple Z phases, select the neighboring Z phases whose distance is an integral mm.
1 cycle
cycle or more
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-1 Servo options
5 - 15
(2) Absolute position encoder
The applicable absolute position encoders are as follows.
- Magnescale Co., Ltd.: http://www.mgscale.com/mgs/language/english/
- HEIDENHAIN CORPORATION: http://www.heidenhain.com/
- Mitutoyo Corporation: http://www.mitutoyo.co.jp/eng/
- Mitsubishi Heavy Industries Machine Tool: http://www.mhi-machinetool.com/en/index.html
- FAGOR Automation: http://www.fagorautomation.com/
Manufacturer Encoder type Interface unit type Minimum detection resolution Tolerable maximum
speed
Magnescale Co., Ltd
SR77 SR87
Not required 0.1m
200m/min0.05m 0.01m
RU77 Not required
0.0000429 (8,388,608p/rev)
2,000r/min
0.0000107 (33,554,432p/rev)
2,000r/min
HEIDENHAIN
LC193M LC493M
Not required 0.05m
180m/min 0.01m
RCN223M Not required 0.0000429
(8,388,608p/rev) 1,500r/min
RCN227M Not required 0.0000027
(134,217,728p/rev) 1,500r/min
RCN727M RCN827M
Not required 0.0000027
(134,217,728p/rev) 300r/min
Mitutoyo
AT343 Not required 0.05m 120m/min AT543 Not required 0.05m 150m/min
AT545 Not required 0.00488
(20/4096)m 150m/min
Mitsubishi Heavy Industries Machine Tool
MPRZ series ADB-20J71 0.000043
(8,388,608p/rev) 10,000r/min
MPS Series ADB-20J60 0.05m 3600m/min
MPI Series ADB-20J60 0.00005(7,200,000p/rev)
or 0.000025(14,400,000p/rev) 5,000r/min
FAGOR
SAM Series Not required 0.05m 120m/min SVAM Series Not required 0.05m 120m/min GAM Series Not required 0.05m 120m/min LAM Series Not required 0.1m 120m/min
Confirm specifications of each encoder manufacturer before using the machine side encoder.CAUTION
5 Dedicated Options
MITSUBISHI CNC
5 - 16
5-2 Spindle options According to the spindle control to be adopted, select the spindle side encoder based on the following table.
(1) No-variable speed control
(When spindle and motor are directly coupled or coupled with a 1:1 gear ratio)
(Note 1) :Control possible
x :Control not possible
(Note 2) When spindle and motor are coupled with a 1:1 gear ratio, use of a spindle side encoder is recommended to
assure the precision.
(2) Variable speed control
(When using V-belt, or when spindle and motor are connected with a gear ratio other than 1:1)
(Note 1) :Control possible
x :Control not possible
(Note 2) Control not possible when connected with the V-belt.
(Note 3) Control not possible when connected with other than the gears.
(Note 4) Orientation is carried out after the spindle is stopped when a proximity switch is used.
As for 2-axis spindle drive unit, setting is available only for one of the axes.
(3) Cautions for connecting the spindle end with an OSE-1024 encoder
[1] Confirm that the gear ratio (pulley ratio) of the spindle end to the encoder is 1:1.
[2] Use a timing belt when connecting by a belt.
Spindle control item
Control specifications Without spindle side encoder With spindle side encoder
Spindle control
Normal cutting control
This normally is not used for no- variable speed control.
Constant surface speed control (lathe)
Thread cutting (lathe)
Orientation control
1-point orientation control
Multi-point orientation control
Orientation indexing
Synchronous tap control
Standard synchronous tap
Synchronous tap after zero point return
Spindle synchronous control
Without phase alignment function
With phase alignment function
C-axis control C-axis control (Note 2)
Spindle control item
Control specifications Without spindle side
encoder
With spindle side encoder TS5690/ERM280/
MPCI Series OSE-1024
Proximity switch
Spindle control
Normal cutting control
Constant surface speed control (lathe) (Note 2) (Note 2)
Thread cutting (lathe) x x
Orientation control
1-point orientation control x (Note 4)
Multi-point orientation control
x x
Orientation indexing x x
Synchronous tap control
Standard synchronous tap
(Note 3) (Note 3)
Synchronous tap after zero point return
x x
Spindle synchronous control
Without phase alignment function
(Note 2) (Note 2)
With phase alignment function
x x
C-axis control C-axis control x x x
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-2 Spindle options
5 - 17
5-2-1 Spindle side ABZ pulse output encoder (OSE-1024 Series)
When a spindle and motor are connected with a V-belt, or connected with a gear ratio other than 1:1, use this spindle side
encoder to detect the position and speed of the spindle. Also use this encoder when orientation control and synchronous tap
control, etc are executed under the above conditions.
(1) Specifications
(Note) Confirm that the gear ratio (pulley ratio) of the spindle end to the encoder is 1:1.
(2) Detection signals
Connector pin layout
Encoder type OSE-1024-3-15-68 OSE-1024-3-15-68-8
Mechanical characteristics for rotation
Inertia 0.1x10-4kgm2 or less 0.1x10-4kgm2 or less
Shaft friction torque 0.98Nm or less 0.98Nm or less
Shaft angle acceleration 104rad/s2 or less 104rad/s2 or less
Tolerable continuous rotation speed 6000 r/min 8000 r/min
Mechanical configuration
Bearing maximum non-lubrication time 20000h/6000r/min 20000h/8000r/min
Shaft amplitude (position 15mm from end)
0.02mm or less 0.02mm or less
Tolerable load (thrust direction/radial direction)
10kg/20kg Half of value
during operation
10kg/20kg Half of value
during operation
Mass 1.5kg 1.5kg
Degree of protection IP54
Squareness of flange to shaft 0.05mm or less
Flange matching eccentricity 0.05mm or less
Working environment
Ambient temperature range -5C to +55C
Storage temperature range -20C to +85C
Humidity 95%Ph
Vibration resistance 5 to 50Hz, total vibration width 1.5mm,
each shaft for 30min.
Impact resistance 294.20m/s2 (30G)
Signal name Number of detection pulses A, B phase 1024p/rev
Z phase 1p/rev
Pin Function Pin Function
A A+ signal K 0V
B Z+ signal L -
C B+ signal M -
D - N A- signal
E Case grounding P Z- signal
F - R B- signal
G - S -
H +5V T -
J -
5 Dedicated Options
MITSUBISHI CNC
5 - 18
(3) Outline dimension drawings
Spindle side encoder (OSE-1024-3-15-68, OSE-1024-3-15-68-8)
3 2
14 .3
2
1.15 +0.14 0
15 -0
.0 06
-0
.0 17
16
50 -0
.0 09
-0
.0 25
0 -0
.1 1
20
5 +0.012 0
3 +0
.0 5
0
68
MS3102A20-29P
68
102 33
50
56
4- 5.4 hole
Shaft section
Key way magnified figure [Unit: mm]
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-2 Spindle options
5 - 19
5-2-2 Spindle side PLG serial output encoder (TS5690, MU1606 Series)
This encoder is used when a more accurate synchronous tapping control or C-axis control than OSE encoder is performed to
the spindle which is not directly-connected to the spindle motor.
(1) Type configuration
(2) Specifications
Sensor
Series type TS5690N64xx TS5690N12xx TS5690N25xx
xx (The end of the type name)
10 20 30 40 60 10 20 30 40 60 10 20 30 40 60
Length of lead [mm] 400 10
800 20
1200 20
1600 30
2000 30
400 10
800 20
1200 20
1600 30
2000 30
400 10
800 20
1200 20
1600 30
2000 30
Detection gear
Type MU1606N601 MU1606N709 MU1606N805
The number of teeth 64 128 256
Outer diameter [mm] 52.8 104.0 206.4
Inner diameter [mm] 40H5 80H5 140H5
Thickness [mm] 12 12 14
Shrink fitting [mm] 0.020 to 0.040 0.030 to 0.055 0.050 to 0.085
Notched fitting section
Outer diameter [mm] 72.0 122.0 223.6
Outer diameter tolerance [mm]
+0.010 to +0.060 -0.025 to +0.025 -0.025 to +0.025
The number of output pulse
A/B phase 64 128 256
Z phase 1 1 1
Detection resolution [p/rev] 2 million 4 million 8 million
Absolute accuracy at stop 150" 100" 95"
Tolerable speed [r/min] 40,000 20,000 10,000
Signal output Mitsubishi high-speed serial
1.Selected encoders must be able to tolerate the maximum rotation speed of the spindle.
2.Please contact your Mitsubishi Electric dealer for the special products not listed above.
64 64 10 400mm 20 800mm12 128 30 1200mm 40 1600mm
25 256
60 2000mm
TS5690N
(1) (2)
(1) (2)
Symbol The number of compatible
detection gear teeth Symbol Length of the cable
6 64 7 128 8 256
MU1606N
(2) Each specification number
Symbol The number of
detection gear teeth
(1)
(1) (2)
CAUTION
5 Dedicated Options
MITSUBISHI CNC
5 - 20
(3) Outline dimension drawings
[Unit: mm]
Always apply the notched fitting section machining with the specified dimensions to the
sensor installation surface. CAUTION
RQ MT1
9 8 7 456
3 2 1 MT2
RQ*SDSD*
+5V5GFG
72 +0
.0 60
+0 .0
10
16
22 14
3
51 .4
R1
18 .7 31
.1
40 H
5 +0
.0 11
0
C0.5
5.5
7
C0.5
29
A
10010
5
16.5
3.3
10 .3
A
MU1606N601120020 160030 200030
TS5690N6420 TS5690N6430 TS5690N6440 TS5690N6460
TS5690N6410 80020 40010
8
0 .3
0 .0
5
14.5 38 50
23.7
12
4
2- 5.8
Sensor mounting face
Round crimp contact for thermistor 0.5-4 (For M4 screw) Output connector (by Tyco Electronics)
Housing (Cap) #172161-1 Contact (Socket) #170365-4 Accessories (Note 5) Housing (Plug) #172169-1 Qty : 1 Contact (Pin) #170363-4 Qty : 9
Name plate Sensor model and Serial No. written
Ground
G ap
C part (Note 2)
D part (Note 3) 2 hole for identification
Detection gear
Projection for connector lock
Seen from Arrow A Pin layout of output connector
Encoder mounting face of machine side
Sensor Parts name Lead wire length A [mm]
Detection gear Parts name
(Note 1) Handle with care as this is a precision component. Pay special attention not to apply excessive external force on the sensors detection face. Applying such force will cause a fault. In installing the sensor, keep the protruding fitting of 72 mm on the machine side, and push the C part of the sensor mounting seat against the fitting.
+ 0.060 + 0.010
In installing the detection gear, make sure that the D part side comes the opposite side of the sensor installation side (sensors lead wire side). The diviation of the center of the detection gear is 16.50.25mm from the sensor mounting face. A connector of the signal cable side (one plug and nine pins) is attached.
The number of teeth 64 (For A, B phase signals)
One notch (For Z phase signal)
D et
ec tio
n ge
ar o
ut er
D IA
52
.8
Central line of detection gear (Note 4)
Sensor mounting face (Note 4)
(Note 2)
(Note 3)
(Note 4)
(Note 5)
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-2 Spindle options
5 - 21
[Unit: mm]
RQ MT1
9 8 7 456
3 2 1 MT2
RQ*SDSD*
+5V5GFG
12 2
0. 02
5
16
22
3
48
12
80 H
5
90
14
14.5
5.5
77
C0.5 C0.5
7
29 A 23.7
10010
A
5
R1
16.5
18 .7 31
.1
3.3
10 .3
2- 5.8
38 50
0. 3
0. 05
MU1606N709120020 160030 200030
TS5690N1220 TS5690N1230 TS5690N1240 TS5690N1260
TS5690N1210 80020 40010
De te
ct io
n ge
ar o
ut er
D IA
10
4
Round crimp contact for thermistor 0.5-4 (For M4 screw) Output connector (by Tyco Electronics)
Housing (Cap) #172161-1 Contact (Socket) #170365-4 Accessories (Note 5) Housing (Plug) #172169-1 Qty: 1 Contact (Pin) #170363-4 Qty: 9
Name plate Sensor model and Serial No. written
Ground
G ap
C part (Note 2)
D part (Note 3) 2 hole for
identification
2-M5 screw
Sensor mounting face
Encoder mounting face of machine side
Projection for connector lock
Seen from Arrow A Pin layout of output connector
Sensor Parts name Lead wire length A [mm]
Detection gear Parts name
The number of teeth 128 (For A, B phase signals)
One notch (For Z phase signal)
Detection gear
Central line of detection gear (Note 4)
Sensor mounting face (Note 4)
(Note 1) Handle with care as this is a precision component. Pay special attention not to apply excessive external force on the sensors detection face. Applying such force will cause a fault. In installing the sensor, keep the protruding fitting of 1220.025 mm on the machine side, and push the C part of the sensor mounting seat against the fitting. In installing the detection gear, make sure that the D part side comes the opposite side of the sensor installation side (sensors lead wire side). The diviation of the center of the detection gear is 16.50.25mm from the sensor mounting face. A connector of the signal cable side (one plug and nine pins) is attached.
(Note 2)
(Note 3)
(Note 4)
(Note 5)
5 Dedicated Options
MITSUBISHI CNC
5 - 22
[Unit: mm]
FG 5G +5V
SD* SD RQ*
MT2 123
6 5 4 789
MT1RQ
5.5
C0 .5
C0.5
16 0
16 0
14 0H
5 +0
.0 18
0
180
10 .3
3.3
29
12 11 14
8 4
5 16.5
14.5
7
10010
23.7
14 22
16
3
22 3.6
0 .02
5
0. 3
0.0 5
12 8.
2
R1
18 .7
31 .1
2- 5.8
38 50
MU1606N805 TS5690N2520 TS5690N2510
120020 160030 200030
TS5690N2530 TS5690N2540 TS5690N2560
80020 40010
(Note 1) Handle with care as this is a precision component. Pay special attention not to apply excessive external force on the sensors detection face. Applying such force will cause a fault. In installing the sensor, keep the protruding fitting of 223.60.025 mm on the machine side, and push the C part of the sensor mounting seat against the fitting. In installing the detection gear, make sure that the D part side comes the opposite side of the sensor installation side (sensors lead wire side). The diviation of the center of the detection gear is 16.50.25mm from the sensor mounting face. A connector of the signal cable side (one plug and nine pins) is attached.
(Note 2)
(Note 3)
(Note 4)
(Note 5)
Housing (Cap) #172161-1 Output connector (by Tyco Electronics)
Sensor mounting face (Note 4)
Central line of detection gear
Round crimp contact for thermistor 0.5-4 (For M4 screw)
Contact (Socket) #170365-4 Accessories (Note 5)
Contact (Pin) #170363-4 Qty: 9 Housing (Plug) #172169-1 Qty: 1
Name plate Sensor model and Serial No. written
C part (Note 2)
D part (Note 3) 2 hole for
identification
2-M8 screw
Detection gear
Sensor mounting face
Encoder mounting face of machine side
Projection for connector lock
Seen from Arrow A Pin layout of output connector
Sensor
Parts name Lead wire length A [mm] Detection gear
Parts name
The number of teeth 256 (For A, B phase signals)
One notch (For Z phase signal)
D et
ec tio
n ge
ar o
ut er
D IA
20
6. 4
G ap
Ground
(Note 4)
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-2 Spindle options
5 - 23
5-2-3 Spindle side accuracy serial output encoder (ERM280, MPCI Series)
C-axis control encoder is used in order to perform an accurate C-axis control.
- HEIDENHAIN CORPORATION: http://www.heidenhain.com/
- Mitsubishi Heavy Industries Machine Tool: http://www.mhi-machinetool.com/en/index.html
5-2-4 Machine side encoder
Refer to the section "5-1-3 Machine side encoder".
Manufacturer Encoder type Interface unit type Minimum detection
resolution Tolerable maximum
speed
HEIDENHAIN ERM280 1200
EIB192M C4 1200 0.0000183 (19,660,800p/rev)
20000 r/min EIB392M C4 1200
ERM280 2048 EIB192M C6 2048 0.0000107
(33,554,432p/rev) 11718 r/min
EIB392M C6 2048 Mitsubishi Heavy
Industries Machine Tool MPCI series ADB-20J20
0.00005 (7200000p/rev)
10000 r/min
Confirm specifications of each encoder manufacturer before using the machine side encoder.CAUTION
5 Dedicated Options
MITSUBISHI CNC
5 - 24
5-3 Encoder interface unit 5-3-1 Serial output interface unit for ABZ analog encoder MDS-B-HR
This unit superimposes the scale analog output raw waves, and generates high resolution position data.Increasing the
encoder resolution is effective for the servo high-gain. MDS-B-HR-12(P) is used for the synchronous control system that 1-
scale 2-drive operation is possible and not used in MDS-D-SVJ3.
(1) Type configuration
(2) Specifications
Type MDS-B-HR- 11 12 11P 12P Compatible scale (example) LS186 / LS486 (HEIDENHAIN) Signal 2-division function - * - * Analog signal input specifications
A-phase, B-phase, Z-phase (Amplitude 1Vp-p)
Compatible frequency Analog raw waveform max. 200kHz Scale resolution Analog raw waveform/512 division Input/output communication style High-speed serial communication I/F, RS485 or equivalent Working ambient temperature 0 to 55C Working ambient humidity 90%RH or less (with no dew condensation) Atmosphere No toxic gases
Tolerable vibration 98.0 m/s2 (10G)
Tolerable impact 294.0 m/s2 (30G) Tolerable power voltage 5VDC5% Maximum heating value 2W Mass 0.5kg or less Degree of protection IP65 IP67
11 IP65 12 P IP67
MDS-B-HR- (1) (2)
(1) Signal division function class (2) Degree of protection Symbol Scale output voltage class Symbol Degree of protection
Output number 1 None Output number 2 (with division)
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-3 Encoder interface unit
5 - 25
(3) Explanation of connectors
(4) Outline dimension drawings
Connector name
Application Remarks
CON1 For connection with servo drive unit (2nd system) Not provided for 1-part system specifications CON2 For connection with servo drive unit CON3 For connection with scale
CON4 For connection with pole detection unit
(MDS-B-MD) *Used for linear servo system
CON1 CON2 CON3 CON4 Pin No. Function Pin No. Function Pin No. Function Pin No. Function
1 RQ+ signal 1 RQ+ signal 1 A+ phase signal 1 A phase signal 2 RQ- signal 2 RQ- signal 2 A- phase signal 2 REF signal 3 SD+ signal 3 SD+ signal 3 B+ phase signal 3 B phase signal 4 SD- signal 4 SD- signal 4 B- phase signal 4 REF signal 5 P5 5 P5 5 Z+ phase signal 5 P24 6 P5 6 P5 6 Z- phase signal 6 MOH signal 7 GND 7 GND 7 - 7 P5 8 GND 8 GND 8 - 8 P5
9 - 9 TH signal 10 - 10 GND 11 P5 12 GND
Connector Type CON1
RM15WTR- 8P(Hirose Electric) CON2 CON3 RM15WTR-12S(Hirose Electric) CON4 RM15WTR-10S(Hirose Electric)
2
1
3 4
5
6
7
8
8
7
6
5 4
3
2
1 9
12
11 10
CON1 CON2
CON3 CON4
1
2
3
4 5
6
7
8
9
10
[Unit:mm]
RM15WTR-10S
RM15WTR-12S
5 5
70
6.51526.5
165
46
RM15WTR-8Px2
40
4-5 DIA.
C O
N 1
C O
N 2 C
O N
4 C
O N
3
5 Dedicated Options
MITSUBISHI CNC
5 - 26
(5) Example of wiring
(Note 1) Install the MDS-B-HR unit outside the control panel.
(Note 2) For connections between an encoder and MDS-B-HR unit, keep the cable length as short as possible.
(Note 3) Ground the MDS-B-HR unit.
(Note 4) Place a ferrite core as close as possible to the MDS-B-HR unit.
Wind the cable around the unit one time when installing a ferrite core.
(Note 5) Use shielded cables and join the shield to the connector shell.
WARNING
CHARGE
CAUTION
WARNING
CAUTION
CHARGECHARGE
CAUTION
WARNING
MDS-D-SVJ3/SPJ3
MDS-B-HR
CN2/3
CON3 CON4
CON2CON1
Control panel
Motor/Machine end encoder
(Note 1)
(Note 2)
(Note 3)
(Note 4)
Grounding plate (Note 5)
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-3 Encoder interface unit
5 - 27
5-3-2 Pulse output interface unit for ABZ analog encoder IBV Series
(Other manufacturer's product)
(1) Appearance
(2) Specifications
(3) Outline dimension drawings
IBV100 series
IBV600 series
IBV100 series IBV600 series
Type IBV 101 IBV 102 IBV 660B Manufacturer HEIDENHAIN Input signal A-phase, B-phase: SIN wave 1Vpp, Z-phase Maximum input frequency 400kHz Output signal Rectangular wave pulse signal Interpolation division number Maximum 10 divisions Maximum 100 divisions Maximum 400 divisions Compatible encoder LS187, LS487 LS187, LS487 LS187, LS487 Minimum detection resolution 0.5m 0.05m 0.0125m Working temperature 0C to 70C Degree of protection IP65 Mass 300g
These are other manufacturer's products. When purchasing these product, contact the
manufacturer directly.
38.51
98
860.2
36 0
.2
71 4.5
7.5 14.5
21 .5
M4
64
M4 16 ISO 4762/DIN 912
(Note)
(Note) This can be fixed with two screws. [Unit: mm]
52 0
.2
175
1630.274
59
9
622
23
M4
57
40
80
8.
5
4.
3
14
[Unit : mm]
CAUTION
5 Dedicated Options
MITSUBISHI CNC
5 - 28
5-3-3 Serial output interface unit for ABZ analog encoder EIB192M
(Other manufacturer's product)
(1) Appearance
(2) Specifications
(3) Outline dimension drawings
Type EIB192M A4 20m EIB192M C4 1200 EIB192M C4 2048 Manufacturer HEIDENHAIN Input signal A-phase, B-phase: SIN wave 1Vpp, Z-phase Maximum input frequency 400kHz Output signal Mitsubishi high-speed serial signal (Mitsu02-4) Interpolation division number Maximum 16384 divisions Compatible encoder LS187, LS487 ERM280 1200 ERM280 2048
Minimum detection resolution 0.0012m 0.0000183
(19,660,800p/rev) 0.0000107
(33,554,432p/rev) Working temperature 0C to 70C Degree of protection IP65 Mass 300g
These are other manufacturer's products. When purchasing these product, contact the
manufacturer directly.
21 .5
14.5 7.5
4.5
38.51
98
860.2
71
64
M4
36 0
.2
Note Two fixing screws M416 DIN 912/ISO 4762
Note
[Unit : mm]
CAUTION
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-3 Encoder interface unit
5 - 29
5-3-4 Serial output interface unit for ABZ analog encoder EIB392M
(Other manufacturer's product)
(1) Appearance
(2) Specifications
(3) Outline dimension drawings
Type EIB392M A4 20m EIB392M C4 1200 EIB392M C4 2048 Manufacturer HEIDENHAIN Input signal A-phase, B-phase: SIN wave 1Vpp, Z-phase Maximum input frequency 400kHz Output signal Mitsubishi high-speed serial signal (Mitsu02-4) Interpolation division number Maximum 16384 divisions Compatible encoder LS187, LS487 ERM280 1200 ERM280 2048
Minimum detection resolution 0.0012m 0.0000183
(19,660,800p/rev) 0.0000107
(33,554,432p/rev) Working temperature 0C to 70C Degree of protection IP40 Mass 140g
These are other manufacturer's products. When purchasing these product, contact the
manufacturer directly.
4.
5
4333 .3
16 .6
U N
C 4
/4 0
76.5
[Unit : mm]
CAUTION
5 Dedicated Options
MITSUBISHI CNC
5 - 30
5-3-5 Serial output interface unit for ABZ analog encoder ADB-20J Series
(Other manufacturer's product)
(1) Appearance
(2) Specifications
(3) Outline dimension drawings
Type ADB-20J20 ADB-20J60 ADB-20J71 Manufacturer Mitsubishi Heavy Industries Machine Tool Co., Ltd. Maximum response speed 10,000r/min 3,600m/min 5,000r/min 10,000r/min Output signal Mitsubishi high-speed serial signal Compatible encoder MPCI series MPS Series MPI Series MPRZ series
Minimum detection resolution 0.00005
(7,200,000p/rev) 0.05m
0.000025 (1,440,000p/rev)
0.000043 (8,388,608p/rev)
Working temperature 0C to 55C Degree of protection IP20 Mass 0.9kg
These are other manufacturer's products. When purchasing these product, contact the
manufacturer directly.
190 180 160
43
18 16
0
40255
[Unitmm]
Label sidePart side
M4 screw 4
CAUTION
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-4 Drive unit option
5 - 31
5-4 Drive unit option 5-4-1 Optical communication repeater unit (FCU7-EX022)
When the distance of the optical communication cable between NC control unit and drive unit is over 30m (M700V/M70V/E70
Series: maximum 30m, M700/M70/C70 Series: maximum 20m), the communication can be performed by relaying the optical
signal.
Using up to two units, relay of the total length of up to 90m can be performed.
(a) When the distance of the optical communication cable between NC control unit and drive unit is over 30m, the
communication can be performed by relaying the optical signal.
(b) The relay between NC control unit and drive unit can be performed for up to two channels.
(c) If the distance between NC control unit and drive unit is even within 30m, the cable can be divided by the relay in
transporting the machine.
(d) Same mounting dimension as the remote I/O unit (DX unit).
(1) Specifications
This unit can not be used between drive units.
Item FCU7-EX022
24VDC input
Input voltage 24V10% (21.6V to 26.4V) Inrush current 35A Power consumption 10W Consumption current 0.4A
Optical interface Channel number 2 channels Connectable number Maximum 2
Environment
Ambient temperature
Operation 0C to +55C Storage -20C to +60C
Ambient humidity
Operation (long term)
+10%RH to +75%RH (with no dew condensation)
Operation (short term)
+10%RH to +95%RH (with no dew condensation. Short term is within about one month.)
Storage +10%RH to +75%RH (with no dew condensation)
Vibration Operation 4.9m/s2
Transportation 34.3m/s2
Impact resistance Operation 29.4m/s2
Atmosphere No corrosive gas, oil mist, or dust
Dimension Dimension (depth)135mm (width)40mm (height)168mm Mounting method Screw cramp with M5 2 screw cramps
Mass 0.42kg
CAUTION
5 Dedicated Options
MITSUBISHI CNC
5 - 32
(2) Explanation of connectors
< Connector pin layout >
Connector name Application Remarks OPT1IN,
OPT1OUT, OPT2IN,
OPT2OUT
Optical connector
DCIN 24VDC Power connector
DCOUT 24VDC/ Power OFF detection
output connector Relays the PD25/27 output to NC control unit.
ACFAIL Power OFF detection connector
Relays the power OFF detection signal (ACFAIL) when sharing 24V power from PD25/PD27 for NC control unit and optical communication repeater unit. It will not be used when dedicated general-purpose power supply for optical communication repeater unit is prepared.
FG FG Faston terminal
DCIN DCOUT ACFAIL Pin No. Name Pin No. Name Pin No. Name Pin No. Name
1 24VDC A1 ACFAIL B1 24VDC 1 COM 2 0V (RG) A2 COM B2 0V (RG) 2 ACFAIL 3 FG A3 NC B3 FG
Optical communication I/F (OPT1IN, OPT1OUT,
OPT2IN, OPT2OUT) DC24V input (DCIN) DC24V output (DCOUT)
Power OFF input ACFAIL
(Terminal name:CF01) FG terminal (FG)
Unit side tab terminal shape (Note) The faston terminal "175022-1" of the cable side is a simple lock type. Make sure to insert until the simple lock pin is in the second hole. Firmly press the simple lock release tab when unplugging it.
1 3
A3A1
B3B1
2 1
FG
2.0
5.0
6.2
0.9
0.80.025 9.6
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-4 Drive unit option
5 - 33
(3) Outline dimension drawings [Unit: mm]
634
135405
15 6
6 6
16 8
DCIN
ACFAIL
OPT1IN
DCOUT
FG
FUSE
OPT2IN
OPT1OUT
OPT2OUT
2-M5-0.8 screw
5 Dedicated Options
MITSUBISHI CNC
5 - 34
5-4-2 Regenerative option
Confirm the regeneration resistor capacity and possibility of connecting with the drive unit. Refer to "7-2 Selection of the
regenerative resistor" for details on selecting an regenerative resistor.
The regenerative resistor generates heats, so wire and install the unit while taking care to safety. When using the
regenerative resistor, make sure that flammable matters, such as cables, do not contact the resistor, and provide a cover on
the machine so that dust or oil does not accumulate on the resistor and ignite.
(1) Combination with servo drive unit
Corresponding servo drive unit
Standard built-in regenerative resistor
External option regenerative resistor
MR-RB032 MR-RB12 MR-RB32 MR-RB30 MR-RB50 MR-RB31 MR-RB51
GZG200W120 OHMK
3 units
GZG200W3 9OHMK 3 units
GZG300W3 9OHMK 3 units
GZG200W2 0OHMK 3 units
GZG300W2 0OHMK 3 units
Parameter setting value
1200h 1300h 1400h 1500h 1600h 1700h 1800h
Regenerative capacity
30W 100W 300W 300W 500W 300W 500W
Resistance value 40 40 40 13 13 6.7 6.7
MDS-D-SVJ3-03NA 10W 100
MDS-D-SVJ3-04NA 10W 100
MDS-D-SVJ3-07NA 20W 40
MDS-D-SVJ3-10NA 100W 13
MDS-D-SVJ3-20NA 100W 9
MDS-D-SVJ3-35NA 100W 9
Corresponding servo drive unit
Standard built-in regenerative resistor
External option regenerative resistor
FCUA-RB22 FCUA-RB37 FCUA-RB55 R-UNIT2
FCUA-RB55 2 units
connected in parallel
FCUA-RB75/2 2 units
connected in parallel
Parameter setting value
2400h 2500h 2600h 2900h 2E00h 2D00h
Regenerative capacity
155W 185W 340W 700W 680W 680W
Resistance value
40 25 20 15 10 15
MDS-D-SVJ3-03NA 10W 100
MDS-D-SVJ3-04NA 10W 100
MDS-D-SVJ3-07NA 20W 40
MDS-D-SVJ3-10NA 100W 13
MDS-D-SVJ3-20NA 100W 9
MDS-D-SVJ3-35NA 100W 9
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-4 Drive unit option
5 - 35
(2) Combination with servo drive unit
The regenerative resistor is not incorporated in the spindle drive unit. Make sure to install the
external option regenerative resistor.
Corresponding spindle drive unit
External option regenerative resistor
MR-RB12 MR-RB32 MR-RB30 MR-RB50
GZG200W39OHMK GZG200W120 OHMK3 units
GZG200W39 OHMK3 units
GZG300W39 OHMK3 units
Parameter setting value
1300h 1400h 1500h 1600h
Regenerative capacity
100W 300W 300W 500W
Resistance value 40 40 13 13
MDS-D-SPJ3-075NA ---
MDS-D-SPJ3-22NA ---
MDS-D-SPJ3-37NA ---
MDS-D-SPJ3-55NA ---
MDS-D-SPJ3-75NA ---
MDS-D-SPJ3-110NA ---
Corresponding spindle drive unit
External option regenerative resistor
FCUA-RB22 FCUA-RB37 FCUA-RB55 FCUA-RB75/2
(1 unit)
Parameter setting value
2400h 2500h 2600h 2700h
Regenerative capacity
155W 185W 340W 340W
Resistance value 40 25 20 30
MDS-D-SPJ3-075NA ---
MDS-D-SPJ3-22NA ---
MDS-D-SPJ3-37NA ---
MDS-D-SPJ3-55NA ---
MDS-D-SPJ3-75NA ---
MDS-D-SPJ3-110NA ---
Corresponding spindle drive unit
External option regenerative resistor
R-UNIT1 R-UNIT2 R-UNIT3 R-UNIT4 R-UNIT5
FCUA-RB55 2 units
connected in parallel
FCUA-RB75/2 2 units
connected in parallel
Parameter setting value
2800h 2900h 2A00h 2B00h 2C00h 2E00h 2D00h
Regenerative capacity
700W 700W 2100W 2100W 3100W 680W 680W
Resistance value 30 15 15 10 10 10 15
MDS-D-SPJ3-075NA ---
MDS-D-SPJ3-22NA ---
MDS-D-SPJ3-37NA ---
MDS-D-SPJ3-55NA ---
MDS-D-SPJ3-75NA ---
MDS-D-SPJ3-110NA ---
Only the designated combination can be used for the external option regenerative resistor
and drive unit.
There is a risk of fire, so always use the designated combination.
CAUTION
CAUTION
5 Dedicated Options
MITSUBISHI CNC
5 - 36
(3) External option regenerative resistor
< GZG200W39OHMK, GZG200W120OHMK > [Unit: mm]
< GZG300W39OHMK > [Unit: mm]
4.3 x 2
287
306
22
26
6
54
mounting hole
5.5 x 2
309
335
40
40
9.5
78
mounting hole
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-4 Drive unit option
5 - 37
(4) External option regenerative resistor unit
< MR-RB032 > [Unit: mm]
Type Regenerative capacity (W)
Resistance value ( )
Mass (kg)
MR-RB032 30 40 0.5
14 4
12
119
99 20
35
G3 G4 P C
MR-RB032
30
615
6
15 6
16 8
6 mounting hole
5 Dedicated Options
MITSUBISHI CNC
5 - 38
< MR-RB12 > [Unit: mm]
Type Regenerative capacity (W)
Resistance value ( )
Mass (kg)
MR-RB12 100 40 0.8
G3 G4 P C
MR - RB12
6
40
615 15
6
16 8
6
14 4
47
149 20
mounting hole
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-4 Drive unit option
5 - 39
< MR-RB32, MR-RB30, MR-RB31 > [Unit: mm]
Type Regenerative capacity (W)
Resistance value ( )
Mass (kg)
MR-RB32 300 40 2.9 MR-RB30 300 13 2.9 MR-RB31 300 6.7 2.9
30
12 5
15 0
100
79
90
7
G 4
G 3
C
P
M R
-R B
30 /3
2
31817
52
5 Dedicated Options
MITSUBISHI CNC
5 - 40
< MR-RB50, MR-RB51 > [Unit: mm]
Type Regenerative capacity (W)
Resistance value ( )
Mass (kg)
MR-RB50 500 13 5.6 MR-RB51 500 6.7 5.6
128
103
116
7
32 5
35 0
G 4
G 3
C
P
M R
-R B
50
95
200 17
27
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-4 Drive unit option
5 - 41
< FCUA-RB22, FCUA-RB37 > [Unit: mm]
< FCUA-RB55, FCUA-RB75/2> [Unit: mm]
Type Regenerative capacity (W)
Outline dimension (mm) Resistance
value ( ) Mass (kg)
A B C
FCUA-RB22 155 215 200 175 40 0.8
FCUA-RB37 185 335 320 295 25 1.2
Type Regenerative capacity (W)
Resistance
value ( ) Mass (kg)
FCUA-RB55 340 20 2.2
FCUA-RB75/2 (2 units connected in parallel) 680 15 2.2
1. When using an operation pattern in which the regenerative resistor is used at a high
frequency, the surface of the resistor may exceed 300C, so take care to the installation and
the heat radiation. Do not install the resistor in a place where it can be easily touched by
hand or body parts as touching could lead to burns. Install a well-ventilated protective
cover (punched metal, etc.) if body parts might come in contact.
2. Installation of the regenerative resistor on a metallic surface outside the panel is
recommended to improve the heat radiating effect.
3. Install the regenerative resistor so that the section where the lead wires are led out is not at
the top of the resistor.
Manufacturer Japan Solderless Terminal Mfg. Co., Ltd.
2 - crimping terminals
Item Item Ring tongue terminal (R-type, Nylon-insulated) ( Model No. FN2-M4
Manufacturer Japan Solderless Terminal Mfg. Co., Ltd.
2 - crimping terminals
Item Item Ring tongue terminal (R-type, Nylon-insulated) (flared) Model No. FN2-M4
CAUTION
5 Dedicated Options
MITSUBISHI CNC
5 - 42
< R-UNIT-1, -2 > [Unit: mm]
Type Regenerative capacity (W)
Resistance value ( )
Mass (kg)
R-UNIT-1 700 30 4.3 R-UNIT-2 700 15 4.4
1.Do not wire or arrange other devices in front of the section marked with a as extremely
hot wind will be blown out.
2. For the installation direction of this resistor, the "Ceiling" is the top and "Ground" is the
bottom.
3. Touching the resistor when it is hot could lead to burns. Always install a protective cover or
consider the installation site so that workers will not touch the unit.
4. The resistor's heating value will differ according to the acceleration/deceleration frequency,
speed being used and the load GD2 conditions, etc. However, install the resistor so that the
hot wind is always exhausted to outside the panel.
TE1
R 1
R 2
A L1
A L2
A C
1 A
C 2
E
88
4-M5x0.8
32 5
34 0
50
R 1
R 2
AL 1
AL 2
AC 1
AC 2
E
7. 5
34 0
7. 5
35 5
1.6
27.527.5 105
20 70
32 1
114
6
2-6
85
50
29
87 9
-4
l:
Terminal screw size: M4 x 0.7 screw
Applicable crimp termina Bare round terminal up to 5.5
Terminal layout (Earth terminal)
Punch hole
Embedded installation
(outer heat radiating section)
Embedded installation
(Installation hole dimensions)
Ceiling
Ceiling
Ground
Suction
hole Hot wind discharge
screw
Ground
Power for fan
AC200V, 50/60Hz 13/11W, 0.08/0.07A
CAUTION
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-4 Drive unit option
5 - 43
< R-UNIT-3, -4 > [Unit: mm]
Type Regenerative capacity (W)
Resistance value ( )
Mass (kg)
R-UNIT-3 2100 15 10.8 R-UNIT-4 2100 10 11.0
1. Attach packing to the flange section.
2. Do not wire or arrange other devices in front of the section marked with a as extremely
hot wind will be blown out.
3. For the installation direction of this resistor, the "Ceiling" is the top and "Ground" is the
bottom.
4. Touching the resistor when it is hot could lead to burns. Always install a protective cover or
consider the installation site so that workers will not touch the unit.
5. The resistor's heating value will differ according to the acceleration/deceleration frequency,
speed being used and the load GD2 conditions, etc. However, install the resistor so that the
hot wind is always exhausted to outside the panel.
7. 5
36 0
7. 5
37 5
1.61812012018 276
140 11.5
35 80
50
34 0
18
104
6
3-6
20
255
29
66105
TE1 R 1
R 2
A L1
A L2
A C
1 A
C 2
E
6-M50.8
259
34 5
36 0
120 120
hole
screw
Hot wind discharge
-4
l:
Terminal screw size: M4 x 0.7 screw
Applicable crimp termina Bare round terminal up to 5.5
Terminal layout
(Earth terminal)
Ceiling
Ground
Punch hole
Suction
Embedded installation (outer heat radiating section)
Embedded installation (Installation hole dimensions)
Power for fan
AC200V, 50/60Hz 39/33W, 0.24/0.21A
CAUTION
5 Dedicated Options
MITSUBISHI CNC
5 - 44
< R-UNIT-5 > [Unit: mm]
Type Regenerative capacity (W)
Resistance value ( )
Mass (kg)
R-UNIT-5 3100 10 15.0
2. Attach packing to the flange section.
3. Do not wire or arrange other devices in front of the section marked with a as extremely
hot wind will be blown out.
4. For the installation direction of this resistor, the "Ceiling" is the top and "Ground" is the
bottom.
5. Touching the resistor when it is hot could lead to burns. Always install a protective cover or
consider the installation site so that workers will not touch the unit.
6. The resistor's heating value will differ according to the acceleration/deceleration frequency,
speed being used and the load GD2 conditions, etc. However, install the resistor so that the
hot wind is always exhausted to outside the panel.
7. 5
36 0
7. 5
37 5
1.61812012018 276
23 20 140 23
255
75 75
98
34 0
22
160 6
91
29
3-6
TE1
E
259
6-M5 x 0.8
34 5
36 0
120 120
R 1
R 2
AL 1
AL 2
AC 1
AC 2
E
Punch hole
Suction
screw
Embedded installation (Installation hole dimensions)
-4
l:
Terminal screw size: M4 x 0.7 screw
Applicable crimp termina Bare round terminal up to 5.5
Terminal layout
(Earth terminal)
Hot wind dischargeCeiling
Ground
Embedded installation (outer heat radiating section)
hole
Power for fan
AC200V, 50/60Hz 32/30W, 0.21/0.19A
CAUTION
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-5 Cables and connectors
5 - 45
5-5 Cables and connectors 5-5-1 Cable connection diagram
The cables and connectors that can be ordered from Mitsubishi Electric Corp. as option parts are shown below. Cables
can only be ordered in the designated lengths. Purchase a connector set, etc., to create special length cables.
CN1A
(MDS-B-HR)
(MDS-D-SPJ3)(MDS-D-SVJ3)
CN2
CN3
CN1B
CN1A
L1 L2 L3 C
N P1
W V U
C N
P3
L1 L2 L3 C
N P1
W V U
C N
P3
C
P
C N
P2
L21
C
P
C N
P2 L11
L21
L11
CN2 CN3
Spindle motor
Servo encoder cable
Encoder conversion unit
Ball screw side encoder
Servo motor
Servo encoder cable
Servo encoder cable
Servo encoder cable
- -B HR> Servo encoder cable
Power connector
Brake connector
e Spindle encoder cabl
Spindle side encoder
Spindle encoder cable
Spindle drive unitServo drive unit
Optical communication cable
From NC
ABZ SIN wave signal output
Mitsubishi serial signal output
(Note) Prepared by user.
(Note) Prepared by user. (Note) Prepared by user.
Linear scale
5 Dedicated Options
MITSUBISHI CNC
5 - 46
5-5-2 List of cables and connectors
< Optical communication cable>
(Note) For details on the optical communication cable, refer to the section "Optical communication cable specification".
(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for
more information.
(Note 2) Hand crimping tools: DF1B-TA2428SHC
(Note 3) The battery box side is connected using a bare conductor or a bar terminal.
Item Model Contents
For CN1A/ CN1B
Optical communication cable For wiring between drive units (inside panel)
G396-L M
: Length 0.3, 0.5, 1, 2, 3, 5m
Drive unit side connector (Japan Aviation Electronics Industry) Connector: PF-2D103
Drive unit side connector (Japan Aviation Electronics Industry) Connector: PF-2D103
For CN1A/ CN1B
Optical communication cable For wiring between drive units (outside panel) For optical servo communication repeater unit
G380-L M
: Length 5, 10, 12, 15, 20, 25, 30m
Drive unit side connector (Tyco Electronics) Connector: 1123445-1
Drive unit side connector (Tyco Electronics) Connector: 1123445-1
Item Model Contents
For battery unit
Battery cable (For drive unit - battery unit)
DG21- M
: Length 0.3, 0.5, 1, 5m
Drive unit side connector (Hirose Electric) Connector: DF1B-2S-2.5R Contact: DF1B-2428SCA (Note 2)
Battery unit side connector (3M) Connector: 10120-3000VE Shell kit : 10320-52F0-008
Compatible part (Note 1)
(J.S.T) Connector : MS-P20-L Shell kit : MS20-2B-28
Battery cable (For drive unit - battery box)
DG23- M
: Length 0.3, 0.5, 1, 2, 3, 5, 7, 10m
Drive unit side connector (Hirose Electric) Connector: DF1B-2S-2.5R Contact: DF1B-2428SCA (Note 2)
Battery box side (Note 3)
5V supply/DO output cable (For drive unit - battery box)
DG24- M
: Length 0.3, 0.5, 1, 2, 3, 5, 7, 10m
Drive unit side connector (3M) Connector: 10120-6000EL Contact: 10320-3210-000
Battery box side (Note 3 )
For drive unit
Battery cable (For drive unit - drive unit) *This cable is required to supply the power from the battery unit to multiple drive units.
DG22- M
: Length 0.3, 0.5, 1, 2, 3, 5, 7, 10m
Drive unit side connector (Hirose Electric) Connector: DF1B-2S-2.5R Contact: DF1B-2428SCA (Note 2)
Drive unit side connector (Hirose Electric) Connector: DF1B-2S-2.5R Contact: DF1B-2428SCA (Note 2)
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< Optical communication repeater unit >
(Note 1) Hand crimping tools: 91558-1
(Note 2) Hand crimping tools: 91557-1
(Note 3) Hand crimping tools: 57036-5000
Item Model Contents
For OPT1/2
Optical communication cable For wiring between drive unit and optical communication repeater unit/ For wiring between optical communication repeater units
G380-L M
: Length 5, 10, 12, 15, 20, 25, 30m
Drive unit side/ Optical communication repeater unit side connector (Tyco Electronics) Connector: 1123445-1
Optical communication repeater unit side connector (Tyco Electronics) Connector: 1123445-1
For DCIN
For optical communication repeater unit DC24V power cable
F070
: Length 0.5, 1.5, 3, 5, 8, 10, 15, 20m
DC24V power side terminal (J.S.T.) Crimp terminal: V1.25-3 or V1.25-4 2
Optical communication repeater unit side connector (Tyco Electronics) Connector: 2-178288-3 Contact: 1-175218-5 3 (Note 1)
For DCIN/
ACFAIL
For optical communication repeater unit/ For connecting Mitsubishi power unit PD25, PD27 DC24V power cable (power OFF detection)
F110
: Length 0.5, 1.5, 3, 5, 8, 10, 15m
DC24V power side connector (Tyco Electronics) Connector: 3-178127-6 Contact: 1-175218-5 (for AWG16) 3 (Note 1) 1-175217-5 (for AWG22) 2 (Note 2)
Optical communication repeater unit side connector < DCIN > (Tyco Electronics) Connector: 2-178288-3 Contact: 1-175218-5 3 (Note 1) < ACFAIL (CF01) > (MOLEX) 005057-9402 0016020103 2 (Note 3)
Y
DCIN
Y
DCOUT
DCIN
CF01
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< Servo / tool spindle encoder cable and connector >
(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for
more information.
Item Model Contents
For CN2/3
For HF/ For HF-KP (Tool spindle) Motor side encoder cable Ball screw side encoder cable
CNV2E-8P- M
: Length 2, 3, 4, 5, 7, 10, 15, 20, 25, 30m
Drive unit side connector (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008
Motor encoder/ Ball screw side encoder side connector (DDK) Plug : CMV1-SP10S-M2 Contact : CMV1-#22ASC-S1
Compatible part (Note 1) (MOLEX) Connector set : 54599-1019 (J.S.T.) Plug connector : XV-10P-03-L-R Cable kit : XV-PCK10-R
CNV2E-9P- M
: Length 2, 3, 4, 5, 7, 10, 15, 20, 25, 30m
Drive unit side connector (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008 (MOLEX) Connector set: 54599-1019
Motor encoder/ Ball screw side encoder side connector (DDK) Plug : CMV1-AP10S-M2 Contact : CMV1-#22ASC-S1
Compatible part (Note 1) (MOLEX) Connector set : 54599-1019 (J.S.T.) Plug connector : XV-10P-03-L-R Cable kit : XV-PCK10-R
Direct connecti on type
For HF-KP (Servo) Motor side encoder cable
CNV2E-K1P- M Lead out in direction of motor shaft
: Length 2, 3, 5, 7, 10,m Compatible with only IP65
Drive unit side connector (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008
Motor encoder/ Ball screw side encoder side connector (Tyco Electronics) Connector: 1674320-1
Compatible part (Note 1) (MOLEX) Connector set : 54599-1019 (J.S.T.) Plug connector : XV-10P-03-L-R Cable kit : XV-PCK10-R
CNV2E-K2P- M Lead out in opposite direction of motor shaft
: Length 2, 3, 5, 7, 10,m Compatible with only IP65
Drive unit side connector (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008
Motor encoder/ Ball screw side encoder side connector (Tyco Electronics) Connector: 1674320-1
Compatible part (Note 1) (MOLEX) Connector set : 54599-1019 (J.S.T.) Plug connector : XV-10P-03-L-R Cable kit : XV-PCK10-R
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5 - 49
(Note 1) When using cable of 15m or longer, use relay cable.
(Note 2) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for
more information.
Item Model Contents
For CN2/3
Relay type (Note 1)
For HF-KP (Servo) Motor side encoder relay cable (motor side)
CNV22J-K1P-0.3M Lead out in direction of motor shaft Length: 0.3m Compatible with only IP65
Drive unit side connector (DDK) Plug: CM10-CR10P-M
Motor encoder/ Ball screw side encoder side connector (Tyco Electronics) Plug : 1747464-1 Contact: 1674335-4
CNV22J-K2P-0.3M Lead out in opposite direction of motor shaft Length: 0.3m Compatible with only IP65
Drive unit side connector (DDK) Plug: CM10-CR10P-M
Motor encoder/ Ball screw side encoder side connector (Tyco Electronics) Plug : 1747464-1 Contact: 1674335-4
For HF-KP (Servo) Motor side encoder relay cable (Drive unit side)
CNV2E-8P- M
: Length 2, 3, 4, 5, 7, 10, 15, 20, 25, 30m
Servo drive unit side connector (3M) Receptacle : 36210-0100JL Shell kit : 36310-3200-008
Servo motor encoder/ Ball screw side encoder side connector (DDK) Plug : CMV1-SP10S-M2 Contact: CMV1-#22ASC-S1
Compatible part (Note 2) (MOLEX) Connector set : 54599-1019 (J.S.T.) Plug connector : XV-10P-03-L-R Cable kit : XV-PCK10-R
For motor encoder/ Ball screw side encoder
Motor side encoder connector/ Ball screw side encoder connector
CNE10-R10S(9) Applicable cable outline 6.0 to 9.0mm
Motor encoder/ Ball screw side encoder side connector (DDK) Plug : CMV1-SP10S-M2 Contact : CMV1-#22ASC-S1
CNE10-R10L(9) Applicable cable outline 6.0 to 9.0mm
Motor encoder/ Ball screw side encoder side connector (DDK) Plug : CMV1-AP10S-M2 Contact : CMV1-#22ASC-S1
CN3 MDS-B-HR unit cable
CNV2E-HP- M
: Length 2, 3, 4, 5, 7, 10, 15, 20, 25, 30m
Drive unit side connector (3M) Receptacle: 36210-0100PL Shell kit : 36310-3200-008
MDS-B-HR unit side connector (Hirose Electric) Plug : RM15WTP-8S Clamp : RM15WTP-CP (10)
Compatible part (Note 2) (MOLEX) Connector set : 54599-1019 (J.S.T.) Plug connector : XV-10P-03-L-R Cable kit : XV-PCK10-R
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5 - 50
(Note) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for
more information.
Item Model Contents
For MDS- B-HR unit
MDS-B-HR connector (For CON1,2: 1) (For CON3: 1)
CNEHRS(10) Applicable cable outline 8.5 to 11mm
MDS-B-HR unit side connector (Hirose Electric) Plug : RM15WTP-8S (for CON1, 2) RM15WTP-12P (for CON3) Clamp : RM15WTP-CP (10)
For CN2/3
Encoder connector CNU2S(AWG18)
Drive unit side connector (3M) Receptacle: 36210-0100PL Shell kit : 36310-3200-008
Compatible part (Note) (MOLEX) Connector set : 54599-1019 (J.S.T.) Plug connector : XV-10P-03-L-R Cable kit : XV-PCK10-R
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5-5 Cables and connectors
5 - 51
< Brake cable and connector >
(Note) For HF-KP13, lead out in opposite direction of motor shaft cannot be used for power cable.
Item Model Contents
For motor brake
Brake connector for HF
CNB10-R2S(6) Applicable cable outline 4.0 to 6.0mm
Servo motor side brake connector (DDK) Plug : CMV1-SP2S-S Contact : CMV1-#22BSC-S2
CNB10-R2L(6) Applicable cable outline 4.0 to 6.0mm
Servo motor side brake connector (DDK) Plug : CMV1-AP2S-S Contact : CMV1-#22BSC-S2
Brake cable for HF-KP
MR-BKS1CBL M-A1-H Lead out in direction of motor shaft
: Length 2, 3, 5, 7, 10m
Servo motor side brake connector (Japan Aviation Electronics Industry) Plug : JN4FT02SJ1-R Contact : ST-TMH-S-C1B-100-(A534G)
MR-BKS1CBL M-A2-H Lead out in opposite direction of motor shaft (Note)
: Length 2, 3, 5, 7, 10m
Servo motor side brake connector (Japan Aviation Electronics Industry) Plug : JN4FT02SJ1-R Contact : ST-TMH-S-C1B-100-(A534G)
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< Power connector >
(Note) For HF-KP13, lead out in opposite direction of motor shaft cannot be used for power cable.
Item Model Contents
For motor power
Power connector for HF75, 105, 54,104,154, 224, 123, 223, 142
CNP18-10S(14) Applicable cable outline 10.5 to 14mm
Motor side power connector (DDK) Plug: CE05-6A18-10SD-C-BSS Clamp: CE3057-10A-1 (D240)
CNP18-10L(14) Applicable cable outline 10.5 to 14mm
Motor side power connector (DDK) Plug: CE05-8A18-10SD-C-BAS Clamp: CE3057-10A-1 (D240)
Power connector for HF204,354,303, 302
CNP22-22S(16) Applicable cable outline 12.5 to 16mm
Motor side power connector (DDK) Plug: CE05-6A22-22SD-C-BSS Clamp: CE3057-12A-1 (D240)
CNP22-22L(16) Applicable cable outline 12.5 to 16mm
Motor side power connector (DDK) Plug: CE05-8A22-22SD-C-BAS Clamp: CE3057-12A-1 (D240)
Power cable for HF-KP
MR-PWS1CBL M-A1-H Lead out in direction of motor shaft
: Length 2, 3, 5, 7, 10m
Motor side power connector (Japan Aviation Electronics Industry) Plug: JN4FT04SJ1-R Contact: ST-TMH-S-C1B-100-(A534G)
MR-PWS1CBL M-A2-H Lead out in opposite direction of motor shaft (Note)
: Length 2, 3, 5, 7, 10m
Motor side power connector (Japan Aviation Electronics Industry) Plug: JN4FT04SJ1-R Contact: ST-TMH-S-C1B-100-(A534G)
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< Drive unit side main circuit connector >
Item Model Contents
For drive unit
For MDS-D-SVJ3- 03NA,04NA,07NA For MDS-D-SPJ3-075NA
These connectors are supplied for each drive unit. Applicable cable size:
0.14mm2 to 2.5mm2 Cable finish outside diameter: to 3.8mm
For CNP1 (For power supply) 54928-0670(MOLEX)
For CNP2 (For control power) 54927-0520(MOLEX)
For CNP3 (For motor power) 54928-0370(MOLEX)
Connection lever 54932-0000(MOLEX)
For MDS-D-SVJ3-35NA For MDS-D-SPJ3-37NA
These connectors are supplied for each drive unit. Applicable cable size:
0.2mm2 to 5.5mm2 Cable finish outside diameter: to 5.0mm
For CNP1 (For power supply) PC4/6-STF-7.62-CRWH (Phoenix contact)
For CNP2 (For control power) 54927-0520(MOLEX)
For CNP3 (For motor power) PC4/3-STF-7.62-CRWH (Phoenix contact)
Connection lever 54932-0000(MOLEX)
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Item Model Contents
For drive unit
For MDS-D-SVJ3- 10NA,20NA For MDS-D-SPJ3-22NA
These connectors are supplied for each drive unit. Applicable cable size:
0.2mm2 to 5.5mm2 Cable finish outside diameter: to 5.0mm
For CNP1 (For power supply) 06JFAT-SAXGFS-XL (J.S.T.)
For CNP2 (For control power) 05JFAT-SAXGSA-E-SS (J.S.T.)
For CNP3 (For motor power)) 03JFAT-SAXGFS-XL (J.S.T.)
MDS-D-SVJ3/SPJ3 Series Specifications Manual
5-5 Cables and connectors
5 - 55
< Spindle encoder cable and connector >
(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for
more information.
Item Model Contents
For CN2 Motor side PLG cable Spindle side accuracy encoder TS5690 cable
CNP2E-1- M
: Length 2, 3, 4, 5, 7, 10, 15, 20, 25, 30m
Spindle drive unit side connector (3M) Receptacle: 36210-0100PL Shell kit : 36310-3200-008
Spindle motor side connector (Tyco Electronics) Connector: 172169-1 Contact:170363-1(AWG26-22) 170364-1(AWG22-18)
Compatible part (Note 1) (MOLEX) Connector set: 54599-1019 (J.S.T.) Plug connector : XV-10P-03-L-R Cable kit : XV-PCK10-R
For CN3 Spindle side encoder OSE-1024 cable
CNP3EZ-2P- M
: Length 2, 3, 4, 5, 7, 10, 15, 20, 25, 30m
Spindle drive unit side connector (3M) Receptacle: 36210-0100PL Shell kit : 36310-3200-008
Spindle motor side connector (DDK) Connector: MS3106A20-29S(D190) Straight back shell: CE02-20BS-S Clamp: CE3057-12A-3
Compatible part (Note 1) (MOLEX) Connector set: 54599-1019 (J.S.T.) Plug connector : XV-10P-03-L-R Cable kit : XV-PCK10-R
CNP3EZ-3P- M
: Length 2, 3, 4, 5, 7, 10, 15, 20, 25, 30m
Spindle drive unit side connector (3M) Receptacle: 36210-0100PL Shell kit : 36310-3200-008
Spindle motor side connector (DDK) Connector: MS3106A20-29S(D190) Angle back shell: CE-20BA-S Clamp : CE3057-12A-3
Compatible part (Note 1) (MOLEX) Connector set: 54599-1019 (J.S.T.) Plug connector : XV-10P-03-L-R Cable kit : XV-PCK10-R
For spindle motor
Motor side PLG connector Spindle side accuracy encoder TS5690 connector
CNEPGS
Spindle motor side connector (Tyco Electronics) Connector: 172169-1 Contact:170363-1(AWG26-22) 170364-1(AWG22-18)
For spindle motor
Spindle side encoder OSE-1024 cable
CNE20-29S(10) Applicable cable outline 6.8 to 10mm
Spindle motor side connector (DDK) Connector:MS3106A20-29S(D190) Straight back shell: CE02-20BS-S Clamp: CE3057-12A-3
CNE20-29S(10) Applicable cable outline 6.8 to 10mm
Spindle motor side connector (DDK) Connector:MS3106A20-29S(D190) Angle back shell: CE-20BA-S Clamp: CE3057-12A-3
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(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer for
more information.
< Contact information >
Japan Aviation Electronics Industry, Limited: http://www.jae.com/en/index.html
HIROSE ELECTRIC CO., LTD.: http://www.hirose.com/
3M: http://www.3m.com/
J.S.T. Mfg. Co., Ltd.: http://www.jst-mfg.com/index_e.php
DDK Ltd.: http://www.ddknet.co.jp/English/index.html
Tyco Electronics Japan G.K.: http://www.te.com/en/home.html
Molex Ltd.: http://www.molex.com/
Item Model Contents
For CN2/3
Spindle encoder drive unit side connector
CNU2S(AWG18)
Spindle drive unit side connector (3M) Receptacle: 36210-0100PL Shell kit : 36310-3200-008
Compatible part (Note 1) (MOLEX) Connector set: 54599-1019 (J.S.T.) Plug connector : XV-10P-03-L-R Cable kit : XV-PCK10-R
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5 - 57
5-5-3 Optical communication cable specifications
(1) Specifications
(Note 1) This temperature range for use is the value for optical cable (cord) only. Temperature condition for the
connector is the same as that for drive unit.
(Note 2) Do not see directly the light generated from CN1A/CN1B connector of drive unit or the end of cable. When the
light gets into eye, you may feel something is wrong for eye.
(The light source of optical communication corresponds to class1 defined in JISC6802 or IEC60825-1.)
Cable model G396-L M G380-L M
Specification application For wiring inside panel For wiring outside panel For long distance wiring
Cable length 0.3, 0.5, 1.0, 2.0, 3.0, 5.0m 5.0, 10, 12, 15, 20, 25, 30m
Optical communication cable
Minimum bend radius
25mm Enforced covering cable: 50mm
cord: 30mm
Tension strength 140N 980N
(Enforced covering cable)
Temperature range for use (Note 1)
-40 to 85C -20 to 70C
Ambient Indoors (no direct sunlight)
No solvent or oil
Cable appearance [mm]
Connector appearance [mm]
2. 2
0. 07
4.40.1 7.60.5
4.40.4
2. 2
0. 2
(13.4) (15) (6.7)
(2 0.
9) (2
.3 )
(1
.7 )
8+0
37.65
Protection tube
22.7
8 .5
20
.3
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(2) Cautions for using optical communication cable
Optical communication cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral
pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available.
Especially, as optical fiber for G396-LM is made of synthetic resin, it melts down if being left near the fire or high
temperature. Therefore, do not make it touched the part, which becomes high temperature, such as radiator or
regenerative brake option of drive unit.
Read described item in this section carefully and handle it with caution.
(a) Minimum bend radius
Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to edges of
equipment or others. For the optical communication cable, the appropriate length should be selected with due
consideration for the dimensions and arrangement of drive unit so that the cable bend will not become smaller than
the minimum bend radius in cable laying. When closing the door of control box, pay careful attention for avoiding
the case that optical communication cable is hold down by the door and the cable bend becomes smaller than the
minimum bend radius.
Lay the cable so that the numbers of bends will be less than 10 times.
(b) Bundle fixing
When using optical communication cable of 3m or longer, fix the cable at the closest part to the connector with
bundle material in order to prevent optical communication cable from putting its own weight on CN1A/CN1B
connector of drive unit. Optical cord should be given loose slack to avoid from becoming smaller than the minimum
bend radius, and it should not be twisted.
When tightening up the cable with nylon band, the sheath material should not be distorted. Fix the cable with
tightening force of 1 to 2kg or less as a guide.
When laying cable, fix and hold it in position with using cushioning such as sponge or rubber which does not contain
plasticizing material.
Never use vinyl tape for cord. Plasticizing material in vinyl tape goes into optical fiber and lowers the optical
characteristic. At worst, it may cause wire breakage. If using adhesive tape for cable laying, the fire resistant
acetate cloth adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.
If laying with other wires, do not make the cable touched wires or cables made from material which contains
plasticizing material.
Minimum bend radius For wiring inside panel: 25mm For wiring outside panel: 50mm
wall
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5 - 59
(c) Tension
If tension is added on optical fiber, the increase of transmission loss occurs because of external force which
concentrates on the fixing part of optical fiber or the connecting part of optical connector. At worst, the breakage of
optical fiber or damage of optical connector may occur. For cable laying, handle without putting forced tension.
(d) Lateral pressure
If lateral pressure is added on optical communication cable, the optical cable itself distorts, internal optical fiber gets
stressed, and then transmission loss will increase. At worst, the breakage of optical cable may occur. As the same
condition also occurs at cable laying, do not tighten up optical communication cable with a thing such as nylon band
(TY-RAP).
Do not trample it down or tuck it down with the door of control box or others.
(e) Twisting
If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or bend is
added. Consequently, transmission loss increases, and the breakage of optical fiber may occur at worst.
(f) Cable selection
- When wiring is outside the power distribution panel or machine cabinet, there is a highly possibility that
external power is added. Therefore, make sure to use the cable for wiring outside panel (G380-LM)
- If a part of the wiring is moved, use the cable for wiring outside panel.
- In a place where sparks may fly and flame may be generated, use the cable for wiring outside panel.
(g) Method to lay cable
When laying the cable, do not haul the optical fiver or connector of the optical communication cable strongly. If
strong force is added between the optical fiver and connector, it may lead to a poor connection.
(h) Protection when not in use
When the CN1A/CN1B connector of the drive unite or the optical communication cable connector is not used such
as pulling out the optical communication cable from drive unit, protect the joint surface with attached cap or tube for
edge protection. If the connector is left with its joint surface bared, it may lead to a poor connection caused by dirty.
(i) Attaching /Detaching optical communication cable connector
With holding the connector body, attach/detach the optical communication cable connector. If attaching/detaching
the optical communication cable with directly holding it, the cable may be pulled out, and it may cause a poor
connection.
When pulling out the optical communication connector, pull out it after releasing the lock of clock lever.
(j) Cleaning
If CN1A and CN1B connector of the drive unit or optical communication cable connector is dirty, it may cause poor
connection. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol.
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(k) Disposal
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.
(l) Return in troubles
When asking repair of drive unit for some troubles, make sure to put a cap on CN1A/CN1B connector. When the
connector is not put a cap, the light device may be damaged at the transit. In this case, exchange and repair of light
device is required.
6 - 1
6
Specifications of Peripheral Devices
6 Specifications of Peripheral Devices
MITSUBISHI CNC
6 - 2
6-1 Selection of wire 6-1-1 Example of wires by unit
Selected wires must be able to tolerate rated current of the unit's terminal to which the wire is connected.
How to calculate tolerable current of an insulated wire or cable is shown in "Tolerable current of electric cable" (1) of
Japanese Cable Makers' Association Standard (JCS)-168-E (1995), its electric equipment technical standards or JEAC
regulates tolerable current, etc. wire.
When exporting wires, select them according to the related standards of the country or area to export. In the UL standards,
certification conditions are to use wires of 60C and 75C product. (UL508C)
Wire's tolerable current is different depending on conditions such as its material, structure, ambient temperature, etc. Check
the tolerable current described in the specification of the wire to use.
Example of wire selections according to each standard is as follows.
(1) 600V vinyl insulated wire (IV wire) 60C product (Example according to IEC/EN60204-1, UL508C)
(2) 600V double (heat proof) vinyl insulated wire (HIV wire) 75C product
(Example according to IEC/EN60204-1, UL508C)
Terminal name Unit type
CNP1 (L1, L2, L3, )
CNP2 (L11, L21)
CNP3 (U, V, W, )
CNP2 (P,C)
Magnetic brake
mm2 AWG mm2 AWG mm2 AWG mm2 AWG mm2 AWG
Spindle drive unit
MDS-D-SPJ3-075NA 2 14
2 14
2 14
2 14
--- ---
MDS-D-SPJ3-22NA 2 14 2 14
MDS-D-SPJ3-37NA 2 14 2 14
MDS-D-SPJ3-55NA 3.5 12 3.5 12
MDS-D-SPJ3-75NA 5.5 10 5.5 10 3.5 12
MDS-D-SPJ3-110NA 14 6 14 6
Servo drive unit
MDS-D-SVJ3-03NA 2 14
2 14
2 14
2 14 2 14
MDS-D-SVJ3-04NA 2 14 2 14
MDS-D-SVJ3-07NA 2 14 2 14
MDS-D-SVJ3-10NA 2 14 2 14
MDS-D-SVJ3-20NA 2 14 3.5 12
MDS-D-SVJ3-35NA 3.5 12 5.5 10
Terminal name Unit type
CNP1
(L1, L2, L3, ) CNP2
(L11, L21 CNP3
(U, V, W, ) CNP2 (P,C)
Magnetic brake
mm2 AWG mm2 AWG mm2 AWG mm2 AWG mm2 AWG
Spindle drive unit
MDS-D-SPJ3-075NA 2 14
2 14
2 14
2 14
--- ---
MDS-D-SPJ3-22NA 2 14 2 14
MDS-D-SPJ3-37NA 2 14 2 14
MDS-D-SPJ3-55NA 3.5 12 3.5 12
MDS-D-SPJ3-75NA 5.5 10 5.5 10 3.5 12
MDS-D-SPJ3-110NA 8 8 8 8
Servo drive unit
MDS-D-SVJ3-03NA 2 14
2 14
2 14
2 14 2 14
MDS-D-SVJ3-04NA 2 14 2 14
MDS-D-SVJ3-07NA 2 14 2 14
MDS-D-SVJ3-10NA 2 14 2 14
MDS-D-SVJ3-20NA 2 14 3.5 12
MDS-D-SVJ3-35NA 3.5 12 5.5 10
MDS-D-SVJ3/SPJ3 Series Specifications Manual
6-1 Selection of wire
6 - 3
(3) 600V bridge polyethylene insulated wire (IC) 105 C product
(Example according to JEAC8001)
Terminal name Unit type
CNP1
(L1, L2, L3, ) CNP2
(L11, L21) CNP3
(U, V, W, ) CNP2 (P,C)
Magnetic brake
mm2 AWG mm2 AWG mm2 AWG mm2 AWG mm2 AWG
Spindle drive unit
MDS-D-SPJ3-075NA 2 14
1.25 16
2 14
2 14
--- ---
MDS-D-SPJ3-22NA 2 14 2 14
MDS-D-SPJ3-37NA 2 14 2 14
MDS-D-SPJ3-55NA 2 14 3.5 12
MDS-D-SPJ3-75NA 3.5 12 5.5 10 3.5 12
MDS-D-SPJ3-110NA 5.5 10 5.5 10
Servo drive unit
MDS-D-SVJ3-03NA 2 14
1.25 16
2 14
2 14 1.25 16
MDS-D-SVJ3-04NA 2 14 2 14
MDS-D-SVJ3-07NA 2 14 2 14
MDS-D-SVJ3-10NA 2 14 2 14
MDS-D-SVJ3-20NA 2 14 2 14
MDS-D-SVJ3-35NA 2 14 3.5 12
1. Selection conditions follow IEC/EN60204-1, UL508C, JEAC8001.
- Ambient temperature is maximum 40C.
- Cable installed on walls without ducts or conduits.
To use the wire under conditions other than above, check the standards you are supposed
to follow.
2. The maximum wiring length to the motor is 30m.
If the wiring distance between the drive unit and motor is 20m or longer, use a thick wire so
that the cable voltage drop is 2% or less.
3. Always wire the grounding wire.
CAUTION
6 Specifications of Peripheral Devices
MITSUBISHI CNC
6 - 4
6-2 Selection of circuit protector and contactor Always select the circuit protector and contactor properly, and install them to each drive unit to prevent disasters.
6-2-1 Selection of circuit protector
Calculate a circuit protector selection current from the rated output and the nominal input voltage of the drive unit as in the
expression below. And then select the minimum capacity circuit protector whose rated current meets the circuit protector
selection current.
Circuit protector selection current [A] =
(Circuit protector selection current for 200V input [A] / Nominal input voltage [V]) 200 [V]
Selection of circuit protector for 200V input
Option part: A circuit protector is not prepared as an NC unit accessory, so purchase the part from your dealer, etc.
Unit type MDS-D-SVJ3-
03NA 04NA 07NA 10NA 20NA 35NA
Rated output 0.3kW 0.4kW 0.75kW 1.0kW 2.0kW 3.5kW Circuit protector selection current for 200V input
2.5A 5A 7A 8A 10A 15A
Selection example of circuit protector (Mitsubishi Electric Corp.)
NF30- SW3P-5A
NF30- SW3P-10A
NF30- SW3P-15A
NF30- SW3P-15A
NF30- SW3P-20A
NF30- SW3P-30A
Rated current of the selection example of circuit protector
5A 10A 15A 15A 20A 30A
Unit type MDS-D-SPJ3-
075NA 22NA 37NA 55NA 75NA 110NA
Rated output 0.75kW 2.2kW 3.7kW 5.5kW 7.5kW 11kW Circuit protector selection current for 200V input
6A 9A 15A 23A 31A 45A
Selection example of circuit protector (Mitsubishi Electric Corp.)
NF30- SW3P-15A
NF30- SW3P-20A
NF30- SW3P-30A
NF50- SW3P-50A
NF100- SW3P-60A
NF100- SW3P- 100A
Rated current of the selection example of circuit protector
15A 20A 30A 50A 60A 100A
1. It is dangerous to share a circuit protector for multiple drive units, so do not share it.
Always install the circuit protectors for each drive unit.
2. If the control power (L11, L21) must be protected, select according to the section "6-4-1
Circuit protector ".
CAUTION
MDS-D-SVJ3/SPJ3 Series Specifications Manual
6-2 Selection of circuit protector and contactor
6 - 5
6-2-2 Selection of contactor
Select the contactor selection current that is calculated from the rated output and the nominal input voltage of the drive unit as
in the expression below. And then select the contactor whose conventional free-air thermal current meets the contactor
selection current.
Contactor selection current [A]=
(Contactor selection current for 200V input [A] / Nominal input voltage [V]) 200 [V]
Selection of contactor for 200V input
Option part: A contactor is not prepared as an NC unit accessory, so purchase the part from your dealer, etc.
Unit type MDS-D-SVJ3-
03NA 04NA 07NA 10NA 20NA 35NA
Rated output 0.3kW 0.4kW 0.75kW 1.0kW 2.0kW 3.5kW Contactor selection current for 200V input
2.5A 5A 7A 8A 10A 15A
Selection example of contactor (Mitsubishi Electric Corp.)
S-T12 -AC200V
S-T12 -AC200V
S-T12 -AC200V
S-T12 -AC200V
S-T18 -AC200V
S-T20 -AC200V
Conventional freeair thermal current of the selection example of contactor
20A 20A 20A 20A 25A 32A
Unit type MDS-D-SPJ3-
075NA 22NA 37NA 55NA 75NA 110NA
Rated output 0.75kW 2.2kW 3.7kW 5.5kW 7.5kW 11kW Contactor selection current for 200V input
6A 9A 15A 23A 31A 45A
Selection example of contactor (Mitsubishi Electric Corp.)
S-T12- AC200V
S-T18- AC200V
S-T20- AC200V
S-T35- AC200V
S-T35- AC200V
S-T35- AC200V
Conventional freeair thermal current of the selection example of contactor
20A 25A 32A 50A 50A 60A
1. Use an alternating contactor.
2. Select a contactor whose excitation coil does not operate at 15mA or less. POINT
6 Specifications of Peripheral Devices
MITSUBISHI CNC
6 - 6
6-3 Selection of earth leakage breaker When installing an earth leakage breaker, select the breaker on the following basis to prevent the breaker from malfunctioning
by the higher frequency earth leakage current generated in the servo or spindle drive unit.
(1) Selection
Obtaining the earth leakage current for all drive units referring to the following table, select an earth leakage breaker
within the "rated non-operation sensitivity current".
Usually use an earth leakage breaker for inverter products that function at a leakage current within the commercial
frequency range (50 to 60Hz).
If a product sensitive to higher frequencies is used, the breaker could malfunction at a level less than the maximum earth
leakage current value.
Earth leakage current for each drive unit
(Note) Maximum earth leakage current: Value that considers wiring length and grounding, etc.(Commercial
frequency 50/60Hz)
(2) Measurement of earth leakage current
When actually measuring the earth leakage current, use a product that is not easily affected by the higher frequency
earth leakage current. The measurement range should be 50 to 60Hz.
Unit Earth leakage current Maximum earth leakage current MDS-D-SPJ3-075NA to 110NA 6mA 15mA MDS-D-SVJ3-03NA to 35NA 1mA 2mA
1. The earth leakage current tends to increase as the motor capacity increases.
2. A higher frequency earth leakage current will always be generated because the inverter
circuit in the drive unit switches the transistor at high speed. Always ground to reduce the
higher frequency earth leakage current as much as possible.
3. An earth leakage current containing higher frequency may reach approx. several hundreds
of mA. According to IEC479-2, this level is not hazardous to the human body.
POINT
MDS-D-SVJ3/SPJ3 Series Specifications Manual
6-4 Branch-circuit protection (for control power supply)
6 - 7
6-4 Branch-circuit protection (for control power supply) 6-4-1 Circuit protector
This breaker is used to switch the control power and to provide overload and short-circuit protection.
When connecting a circuit protector to the power input (L11 and L21) for the control circuit, use a product that does not trip
(incorrectly activate) by a rush current when the power is turned ON. A circuit protector with inertial delay is available to
prevent unnecessary tripping. Select the product to be used according to the machine specifications.
The rush current and rush conductivity time differ according to the power impedance and power ON timing, so select a
product that does not trip even under the conditions listed in the following table.
6-4-2 Fuse protection
The fuse of branch-circuit protection must use UL class CC, J or T. In the selection, please consider rush current and rush
conductive time.
Selection of branch-circuit protection fuse
When collectively protecting the control circuit power for multiple units, select a circuit
protector that satisfies the total sum of the rush current Ip.
The largest value is used for the rush conductivity time T.
Connected total of unit Fuse (Class CC) Wire Size
Rated [V] Current [A] AWG 1 to 4
600 20
16 to 14 5 to 8 35
For continued protection against risk of fire, replace only with same type 600 V, 20 or 35 A
(UL CLASS CC) fuse.
Before replacing fuse, confirm all power controlling the drive system is shut-OFF. Be sure to
look out the power source to prevent the power from being turned ON while maintenance is
being performed.
t [ms]
Time constant:
I [A] Rush conductivity time: Time to reach 36.8% of rush current Ip, equivalent to circuit protector operation characteristics operation time.
Rush current: Ip=30A (per 1 unit)
36.8%
T = 9ms
POINT
CAUTION
WARNING
6 Specifications of Peripheral Devices
MITSUBISHI CNC
6 - 8
6-5 Noise filter (1) Selection
Use an EMC noise filter if the noise conducted to the power line must be reduced. Select an EMC noise filter taking the
drive unit's input rated voltage and input rated current into consideration.
(2) Noise filter mounting position
Install the noise filter to the drive unit's power input as the diagram below indicates.
(Note) The noise filter must be prepared by the user.
Recommended devices:
Densei-lambda MX13 Series
Soshin Electric HF3000C-TM Series
Contact:
Densei-lambda Co., Ltd. Telephone: 0120-507039 http://www.densei-lambda.com
Soshin Electric Co., Ltd. Telephone: 03-3775-9112 (+81-3-3775-9112) http://www.soshin.co.jp
(Note) The above devices may be changed at the manufacturer's discretion.
Contact each manufacturer for more information.
R S T
Power distribution panel
Breaker
Power supply
Noise filter
AC reactor Contactor
Drive unit
MDS-D-SVJ3/SPJ3 Series Specifications Manual
6-6 Surge absorber
6 - 9
6-6 Surge absorber When controlling a magnetic brake of a servo motor in DC OFF circuit, a surge absorber must be installed to protect the relay
contacts and brakes. Commonly a varistor is used.
(1) Selection of varistor
When a varistor is installed in parallel with the coil, the surge voltage can be adsorbed as heat to protect a circuit.
Commonly a 120V product is applied. When the brake operation time is delayed, use a 220V product. Always confirm
the operation with an actual machine.
(2) Specifications
Select a varistor with the following or equivalent specifications. To prevent short-circuiting, attach a flame resistant
insulation tube, etc., onto the leads as shown in the following outline dimension drawing.
Varistor specifications
(Note 1) Selection condition: When ON/OFF frequency is 10 times/min or less, and exciting current is 2A or less
(Note 2) ERZV10D820 and ERZV10D121 are manufactured by Panasonic Corporation.
TNR10V820K and TNR10V121K are manufactured by Nippon Chemi-Con Corporation.
Contact: Panasonic Corporation http://www.panasonic.com/global/home.html
Nippon Chemi-Con Corporation http://www.chemi-con.co.jp/e/index.html
(3) Outline dimension drawing
ERZV10D121, ERZV10D221
Varistor type
Varistor voltage rating
(range)
Rating Max. limit voltage
Electrostatic capacity
(reference value)
Tolerable circuit voltage
Surge current withstand level
(A)
Energy withstand level
(J) Power
(V) AC(V) DC(V) 1 time 2 times 10/
1000s 2ms (W) (V) (pF)
ERZV10D121 120 (108 to 132)
75 100 3500 2500 20 14.5 0.4 200 1400 TND10V-121K ERZV10D221 220
(198 to 242) 140 180 3500 2500 39 27.5 0.4 360 410
TND10V-221K
Normally use a product with 120V varistor voltage. If there is no allowance for the brake
operation time, use the 220V product. A varistor whose voltage exceeds 220V cannot be used,
as such varistor will exceed the specifications of the relay in the unit.
[Unit:mm]
Insulation tube
11.5
20.0
POINT
6 Specifications of Peripheral Devices
MITSUBISHI CNC
6 - 10
6-7 Relay The input/output circuit to control the external signal such as external emergency stop input and relay changeover signal
output is wired.
The input/output circuit for each unit is as follows.
For a switch or relay to be wired, use a switch or relay that satisfies the input/output (voltage, current) conditions.
Input condition Output condition
Switch ON 18VDC to 25.2VDC
5mA or more
Output voltage 24VDC 5% Tolerable output current Io
40mA or less
Switch OFF 4VDC or less 1mA or less
Interface name Selection example
For digital input signal (CN9) Use a minute signal switch which is stably contacted and operated even with low voltage or current.
For digital output signal (CN9) Use a compact relay operated with rating of 24VDC, 50mA or less.
CN9
DICOM
20EMGX
5
19
12
2DI1
DI2
DI3
24G
3
9
15
13
CN9
MBR
MC1
DO3
24G
DOCOM
Input circuit Output circuit
External emergency stop
Circuit configuration
Example of an external circuit configuration
RA for a motor brake
RA for starting an external contactor
Proximity switch
24VDC 24VDC
(Note)
(Note)
(Note)
(Note)
7 - 1
7
Selection
7 Selection
MITSUBISHI CNC
7 - 2
7-1 Selection of the servo motor 7-1-1 Outline
It is important to select a servo motor matched to the purpose of the machine that will be installed. If the servo motor and
machine to be installed do not match, the motor performance cannot be fully realized, and it will also be difficult to adjust the
parameters. Be sure to understand the servo motor characteristics in this chapter to select the correct motor.
(1) Motor inertia
The servo motor has an optimum load inertia scale. If the load inertia exceeds the optimum range, the control becomes
unstable and the servo parameters become difficult to adjust. When the load inertia is too large, decelerate with the
gears (The motor axis conversion load inertia is proportional to the square of the deceleration ratio.), or change to a
motor with a large inertia.
(2) Rated speed
Even with motors having the same capacity, the rated speed will differ according to the motor.
The motor's rated output is designed to be generated at the rated speed, and the output P (W) is expressed with
expression (7-1). Thus, even when the motors have the same capacity, the rated torque will differ according to the rated
speed.
P = 2NT (W) ---(7-1)
N: Motor speed (1/sec)
T: Output torque (N.m)
In other words, even with motors having the same capacities, the one with the lower rated speed will generate a larger
torque. If generated torque is the same, the drive unit capacity can be downsized. When actually mounted on the
machine, if the positioning distance is short and the motor cannot reach the maximum speed, the motor with the lower
rated speed will have a shorter positioning time. When selecting the motor, consider the axis stroke and usage methods,
and select the motor with the optimum rated speed.
MDS-D-SVJ3/SPJ3 Series Specifications Manual
7-1 Selection of the servo motor
7 - 3
7-1-2 Selection of servo motor capacity
The following three elements are used to determine the servo motor capacity.
1. Load inertia ratio
2. Short time characteristics (acceleration/deceleration torque)
3. Continuous characteristics (continuous effective load torque)
Carry out appropriate measures, such as increasing the motor capacity, if any of the above conditions is not fulfilled.
(1) Load inertia ratio
Each servo motor has an appropriate load inertia ratio (load inertia/motor inertia). The control becomes unstable when
the load inertia ratio is too large, and the servo parameter adjustment becomes difficult. It becomes difficult to improve
the surface precision in the feed axis, and the positioning time cannot be shortened in the positioning axis because the
settling time is longer.
If the load inertia ratio exceeds the recommended value in the servo specifications list, increase the motor capacity, and
select so that the load inertia ratio is within the recommended range.
Note that the recommended value for the load inertia ratio is strictly one guideline. This does not mean that controlling of
the load with inertia exceeding the recommended value is impossible.
1. When selecting feed axis servo motors for NC unit machine tools, place importance on the
surface precision during machining. To do this, always select a servo motor with a load
inertia ratio within the recommended value. Select the lowest value possible within that
range.
2. The load inertia ratio for the motor with brakes must be judged based on the motor inertia
for the motor without brakes.
POINT
7 Selection
MITSUBISHI CNC
7 - 4
(2) Short time characteristics
In addition to the continuous operation range, the servo motor has the short time operation range that can be used only
in a short time such as acceleration/deceleration. This range is expressed by the maximum torque and the torque
characteristics. The maximum torque or the torque characteristics differ according to each motor, so confirm the
specifications in section "2-1 Servo motor".
The torque required for the servo motors acceleration/deceleration differs according to the CNCs command pattern or
the servos position control method.
Determine the required maximum motor torque from the following expression, and select the servo motor capacity.
(a) Selection with the maximum torque characteristics
In a low-speed rotation range (approximately less than half of the servo motor maximum speed), the linear
acceleration/deceleration time constant "ta" that can be driven depends on the motor maximum torque. That can be
approximated from the machine specifications using the expression (7-2).
(7-2)
Using the approximate linear acceleration/deceleration time constant "ta" calculated above, confirm the torque
characteristics of the high-speed rotation range in the CNCs command pattern or the servos position control
method.
N : Motor reach speed (r/min)
JL : Motor shaft conversion load inertia (10-4kgm2)
JM : Motor inertia (10-4kgm2) : Drive system efficiency (Normally 0.8 to 0.95) TMAX : Maximum motor torque (Nm)
TL : Motor shaft conversion load (friction, unbalance) torque (Nm)
ta = (0.8 TMAX-TL)
1.05 10-2 (JL/+JM) N (ms)
MDS-D-SVJ3/SPJ3 Series Specifications Manual
7-1 Selection of the servo motor
7 - 5
(b) Approximation when using the NC command linear acceleration/deceleration pattern + servo standard position
control
This is a normal command pattern or servo standard position control method.
Using the expression (7-3) and (7-4), approximate the maximum torque "Ta1" and maximum torque occurrence
speed "Nm" required for this acceleration/deceleration pattern.
(7-3)
(7-4)
Fig.1 Speed, acceleration and torque characteristics when using the NC command linear acceleration/deceleration pattern + servo standard position control
ta : Acceleration/deceleration time constant (ms) Kp : Position loop gain (SV003) (rad/s) N : Motor reach speed (r/min)
JL : Motor shaft conversion load inertia (10-4kgm2)
JM : Motor inertia (10-4kgm2) : Drive system efficiency (Normally 0.8 to 0.95) TL : Motor shaft conversion load (friction, unbalance) torque (Nm)
Ta1 = ta
(N.m)(1- e )+TL -Kp ta
1000
Nm =N {1- Kp ta 1000 (r/min)(1- e )}
-Kp ta 1000
(ms)
(r/min)
0 ta
N
(ms) 0 ta
Ac
Nm
(r/min)
0 Nm
Ta1
TL
N Time Motor speed
Motor speed NC command
Motor actual speed
Motor acceleration
TimeMotor acceleration
Motor torque
Speed most required for the motor torque
7 Selection
MITSUBISHI CNC
7 - 6
(c) Approximation when using the NC command linear acceleration/deceleration pattern + servo SHG control (option)
This is a servos position control method to achieve a normal command pattern and high precision. SHG control
improves the position loop gain by stably controlling a delay of the position loop in the servo system. This allows the
settling time to be reduced and a high precision to be achieved.
Using the expression (7-5) and (7-6), approximate the maximum torque "Ta1" and maximum torque occurrence
speed "Nm" required for this acceleration/deceleration pattern.
(7-5)
(7-6)
Fig.2 Speed, acceleration and torque characteristics when using the NC command linear acceleration/deceleration pattern + servo SHG control
ta : Acceleration/deceleration time constant (ms) Kp : Position loop gain (SV003) (rad/s) N : Motor reach speed (r/min)
JL : Motor shaft conversion load inertia (10-4kgm2)
JM : Motor inertia (10-4kgm2) : Drive system efficiency (Normally 0.8 to 0.95) TL : Motor shaft conversion load (friction, unbalance) torque (Nm)
Ta1 = ta
(N.m)(1- 0.586 e )+TL -2 Kp ta
1000
Nm =N {1- 1.3 Kp ta 1000 (1-1.5 e )}
-2 Kp ta 1000 (r/min)
(ms)
r/min
0 ta
N
(ms) 0 ta
Ac
Nm
(r/min)
0 Nm
Ta1
TL
N
Time
Time
Motor acceleration
NC command Motor speed
Motor acceleration
Motor torque
Motor actual speed
Motor speed
Speed most required for the motor torque
MDS-D-SVJ3/SPJ3 Series Specifications Manual
7-1 Selection of the servo motor
7 - 7
(d) Approximation when using the NC command soft acceleration/deceleration pattern + feed forward (high-
speed accuracy) control
If the feedforward amount is set properly, the delay of the servo position loop is guaranteed. Therefore, this
command acceleration pattern can be approximated to the NC command and does not depend on the servo
position control method.
Using the expression (7-7) and (7-8), approximate the maximum torque "Ta1" and maximum torque occurrence
speed "Nm" required for this acceleration/deceleration pattern.
(7-7)
(7-8)
Fig 3. Speed, acceleration and torque characteristic when using the NC command soft acceleration/deceleration pattern + feedforward (high-speed accuracy) control
ta : Acceleration/deceleration time constant (ms) tb : Acceleration/deceleration time constant (ms) N : Motor reach speed (r/min)
JL : Motor shaft conversion load inertia (10-4kgm2)
JM : Motor inertia (10-4kgm2) : Drive system efficiency (Normally 0.8 to 0.95) TL : Motor shaft conversion load (friction, unbalance) torque (Nm)
Ta1 = ta
1.05 10-2 (JL/+JM) N (N.m)+TL
Nm =N (1- ta
1 (r/min) 2
tb
(ms)
r/min
0 ta
N
(ms) 0 tb ta ta+ tb
Ac
Nm
0 Nm
Ta1
TL
N
ta+tb Time
Time
Motor speed
(r/min)
NC command Motor actual speed
Motor acceleration
Motor torque
Speed most required for the motor torque
Motor speed
7 Selection
MITSUBISHI CNC
7 - 8
(e) Confirmation in the torque characteristics
Confirm whether the maximum torque "Ta1" and maximum torque occurrence speed "Nm" required for this
acceleration/deceleration pattern calculated in the item "(b)" to "(d)" are in the short time operation range of the
torque characteristics.
Motor torque characteristics
If they are not in the short time operation range, return to the item "(b)" to "(d)" and make the linear acceleration/
deceleration time constant "ta" large.
If the acceleration specification cannot be changed (the linear acceleration/deceleration time constant cannot be
increased), reconsider the selection, such as increasing the motor capacity.
1. In selecting the maximum torque "Ta1" required for this acceleration/deceleration pattern,
the measure of it is 80% of the motor maximum torque "TMAX "
2. In high-speed rotation range, confirm that the maximum torque "Ta1" and maximum torque
occurrence speed "Nm" required for this acceleration/deceleration is in the short time
operation range.
3. The drive system efficiency is normally approx. 0.95 in the ball screw mechanism and
approx. 0.8 in the gear mechanism
4. For the torque characteristics in the motor high-speed rotation range, the AC input voltage
is 200V. If the input voltage is low or if the power wire connecting the servo motor and drive
unit is long (20m length), the short time operation range is limited. In this case, an
allowance must be provided for the selection of the high-speed rotation range.
0 2000 4000
0
20
40
100
80
60
Rotation speed [r/min]
Continuous operation range
Short time operation range
Required maximum torque: Ta1 Required maximum torque occurrence speed: Nm
Motor maximum torque
High-speed rotation range torque characteristic
To rq
ue [N
m ]
POINT
MDS-D-SVJ3/SPJ3 Series Specifications Manual
7-1 Selection of the servo motor
7 - 9
(3) Continuous characteristics
A typical operation pattern is assumed, and the motor's continuous effective load torque (Trms) is calculated from the
motor shaft conversion and load torque. If numbers <1> to <8> in the following drawing were considered a one cycle
operation pattern, the continuous effective load torque is obtained from the root mean square of the torque during each
operation, as shown in the expression (7-9).
Fig. 1 Continuous operation pattern
(7-9)
Select a motor so that the continuous effective load torque Trms is 80% or less of the motor stall torque Tst.
Trms 0.8Tst (7-10)
The amount of acceleration torque (Ta) shown in tables 7-3 and 7-4 is the torque to accelerate the load inertia in a
frictionless state. It can be calculated by the expression (7-11). (For linear acceleration/deceleration)
(7-11)
For an unbalance axis, select a motor so that the motor shaft conversion load torque (friction torque + unbalance torque)
is 60% or less of the stall.
TL 0.6Tst (7-12)
N : Motor reach speed (r/min)
JL : Motor shaft conversion load inertia (10-4kgm2)
JM : Motor inertia (10-4kgm2) ta : Acceleration/deceleration time constant (ms) : Drive system efficiency (Normally 0.8 to 0.95)
0
0 T3
T2
t1 t2 t3 t4
t0
T1
T4
T5 T6
T7
T8
t5 t6 t7 t8
[1] [2] [3] [4] [5] [6] [7] [8]
Motor torque
Motor speed
Time
Trms = T12t1+T22t2+T32t3+T42t4+T52t5+T62t6+T72t7+T82t8 t0
Ta = ta
1.05 10-2 (JL/+JM) N (N.m)
7 Selection
MITSUBISHI CNC
7 - 10
(a) Horizontal axis load torque
When operations [1] to [8] are for a horizontal axis, calculate so that the following torques are required in each period.
Table 7-3 Load torques of horizontal axes
(b) Unbalance axis load torque
When operations [1] to [8] are for an unbalance axis, calculate so that the following torques are required in each period.
Note that the forward speed shall be an upward movement.
Table 7-4 Load torques of unbalance axes
Period Load torque calculation method Explanation
[1] (Amount of acceleration torque) + (Kinetic friction torque) Normally the acceleration/deceleration time constant is calculated so that this torque is 80% of the maximum torque of the motor.
[2] (Kinetic friction torque)
[3] (Amount of deceleration torque) + (Kinetic friction torque)
The absolute value of the acceleration torque amount is same as the one of the deceleration torque amount. The signs for the amount of acceleration torque and amount of deceleration torque are reversed.
[4] (Static friction torque) Calculate so that the static friction torque is always required during a stop.
[5] - (Amount of acceleration torque) - (Kinetic friction torque) The signs are reversed with period <1> when the kinetic friction does not change according to movement direction.
[6] - (Kinetic friction torque) The signs are reversed with period <2> when the kinetic friction does not change according to movement direction.
[7] - (Amount of deceleration torque) - (Kinetic friction torque) The signs are reversed with period <3> when the kinetic friction does not change according to movement direction.
[8] - (Static friction torque) Calculate so that the static friction torque is always required during a stop.
Period Load torque calculation method Explanation
[1] (Amount of acceleration torque) + (Kinetic friction torque) + (Unbalance torque)
Normally the acceleration/deceleration time constant is calculated so that this torque is 80% of the maximum torque of the motor.
[2] (Kinetic friction torque) + (Unbalance torque)
[3] (Amount of deceleration torque) + (Kinetic friction torque) + (Unbalance torque)
The absolute value of the acceleration torque amount is same as the one of the deceleration torque amount. The signs for the amount of acceleration torque and amount of deceleration torque are reversed.
[4] (Static friction torque) + (Unbalance torque) The holding torque during a stop becomes fairly large. (Upward stop)
[5] - (Amount of acceleration torque) - (Kinetic friction torque) + (Unbalance torque)
[6] - (Kinetic friction torque) + (Unbalance torque) The generated torque may be in the reverse of the movement direction, depending on the size of the unbalance torque.
[7] - (Amount of deceleration torque) - (Kinetic friction torque) + (Unbalance torque)
[8] - (Static friction torque) + (Unbalance torque) The holding torque becomes smaller than the upward stop. (Downward stop)
During a stop, the static friction torque may constantly be applied. The static friction torque
and unbalance torque may be applied during an unbalance axis upward stop, and the torque
during a stop may become extremely large. Therefore, caution is advised.
POINT
MDS-D-SVJ3/SPJ3 Series Specifications Manual
7-1 Selection of the servo motor
7 - 11
7-1-3 Motor shaft conversion load torque
The calculation method for a representative load torque is shown.
Type Mechanism Calculation expression
Linear movement
TL:Load torque(Nm)
F:Force in axial direction of the machine that moves linearly(N) : Drive system efficiency V:Speed of object that moves linearly(mm/min) N:Motor speed(r/min) S:Object movement amount per motor rotation(mm) Z1,Z2:Deceleration ratio
F in the above expression is obtained from the expression below when the table is moved as shown on the left. F=Fc+(Wg+F0)
Fc:Force applied on axial direction of moving section (N)
F0:Tightening force on inner surface of table guide (N)
W:Total mass of moving section (kg)
g:Gravitational acceleration = 9.8 (m/s2) :Friction coefficient
Rotary movement
TL:Load torque(Nm)
TL0:Load torque on load shaft(Nm)
TF:Motor shaft conversion load friction torque(Nm)
:Drive system efficiency Z1,Z2:Deceleration ratio
n:Deceleration ratio
Vertical movement
When rising TL=TU+TF When lowering TL= -TU2+TF
TL:Load torque(Nm)
TU:Unbalanced torque(Nm)
TF:Friction torque on moving section(Nm)
W1:Load mass(kg)
W2:Counterweight mass(kg)
: Drive system efficiency
g:Gravitational acceleration = 9.8(m/s2) V:Speed of object that moves linearly(mm/min) N:Motor speed(r/min) S:Object movement amount per motor rotation(mm) :Friction coefficient
Z2 W
F0 FcZ1
Servo motor
TL = F 103 N
.( ) = V
103 F.S
Z2Z1
TL0
Servo motor
TL = . .TL0+TF = . .TL0+TF 1Z1
n 1
1
Z2
1/n
W1
W2
Servo motor
Counter- weight
Load
TU = (W1-W2).g
103 N .( ) =
V 103
(W1-W2).g.S
TF = 103
.(W1+W2).g.S
7 Selection
MITSUBISHI CNC
7 - 12
7-1-4 Expressions for load inertia calculation
The calculation method for a representative load inertia is shown.
Type Mechanism Calculation expression
Cylinder
TL:Load inertia(kgcm2)
: Density of cylinder material(kg/cm3) L:Length of cylinder(cm) D1:Outer diameter of cylinder(cm)
D2:Inner diameter of cylinder(cm)
W:Mass of cylinder(kg)
Iron:7.8010-3(kg/cm3) Aluminum:2.7010-3(kg/cm3)
Copper:8.9610-3(kg/cm3)
JL:Load inertia(kgcm2)
W:Mass of cylinder(kg) D:Outer diameter of cylinder(cm) R:Distance between rotary axis and cylinder axis(cm)
Column JL: Load inertia(kgcm2)
W:Mass of cylinder(kg) a,b,R:Left diagram(cm)
Object that moves linearly
JL:Load inertia(kgcm2)
W:Mass of object that moves linearly(kg) N:Motor speed(r/min) V:Speed of object that moves linearly(mm/min) S:Object movement amount per motor rotation(mm)
Suspended object JL:Load inertia(kgcm2)
W:Object mass(kg) D:Diameter of pulley(cm)
Jp:Inertia of pulley(kgcm2)
Converted load JL:Load inertia(kgcm2)
JA,JB:Inertia of load A, B(kgcm2)
J11 to J31:Inertia(kgcm2)
N1 to N3:Each shafts speed(r/min)
D1.
D2.
Rotary shaft is cylinder center
Rotary shaft
JL = .(D1 4 -D2
4 ) = .(D1
2 D2
2 )
32 8 W
R
D
When rotary shaft and cylinder shaft are deviated
Rotary shaft
JL = .(D 2 +8R
2 )
8 W
R
a a
b b
Rotary shaft
JL = W( +R 2 )
3 a
2 +b
2
W
V N
Servo motor
JL = W( . ) 2 = W( )
2
10 1 V S
2N 20
D
W
JL = W( ) 2 +Jp
D 2
N2
JA
JBN3 J31
N1
N1
J11
J22
J21
Load A
Servo motor
Load B JL = J11+(J21+J22+JA).( ) 2 +(J +JB).( )
2
N1
N2
N1
N3
MDS-D-SVJ3/SPJ3 Series Specifications Manual
7-2 Selection of the spindle motor
7 - 13
7-2 Selection of the spindle motor (1) Calculation of average output for spindle
In the machine which carries out the spindles acceleration/deceleration frequently (example: tapping center), short-time
rating is frequently used, and a rise in temperature become significant on the spindle motor or drive unit. Thus, calculate
the average output (PAV) from one cycle operation pattern and confirm that the calculated value is less than the
continuous rating output of the selected spindle motor.
Continuous operation pattern (example)
P1 to P8 :Output t1 to t8 :Time t0 :One cycle operation time
1. Calculate acceleration/deceleration time by the accurate load inertia because even if the
rotation speed is the same, acceleration/deceleration time varies with a tool or workpiece
mounted to the spindle.
Refer to the section "Adjusting the acceleration/deceleration operation" (1) in Instruction
Manual.
2. Calculation method of synchronous tapping
The acceleration/deceleration number of times is twice, for forward run and reverse run are
carried out in one machining. The output guideline is 50% of the short-time rating. The time
is tapping time constant.
3. Calculation method of spindle synchronization
The output guideline is 70% of the short-time rating. The time is spindle synchronization
time constant.
0
0
P3
P2
t1 t2 t3 t4
t0
P1
P4
P5 P6
P7
P8
t5 t6 t7 t8
[1] [2] [3] [4] [5] [6] [7] [8]
Motor torque
Motor speed
Time Output during acceleration/deceleration (kW) = Actual acceleration/deceleration output (kW) *
Accelera- tion
Accelera- tion
Decelera- tion
Decelera- tion
Cutting
Cutting
Stop Stop
Actual acceleration/deceleration output (kW) is 1.2-fold of "Standard output (kW) during acceleration/deceleration" or 1.2-fold of "Short time rated output (kW)".
PAV = P12t1+P22t2+P32t3+P42t4+P52t5+P62t6+P72t7+P82t8 t0
Continuous rated output One cycle operation pattern average output (PAV)
POINT
7 Selection
MITSUBISHI CNC
7 - 14
7-3 Selection of the regenerative resistor 7-3-1 Regeneration methods
When the motor decelerates, rotating load inertia or the operation energy of the moving object is returned to the drive
unit through the motor as electrical power. This is called "regeneration". The three general methods of processing
regeneration energy are shown below.
Table 7-5 Drive unit regeneration methods
The resistance regeneration method are used in the MDS-D-SVJ3/SPJ3. For MDS-D-SVJ3 Series (servo), the
regenerative resistor is mounted in the drive unit as a standard. If the regenerative capacity becomes large, an option
regenerative resistor is connected externally to the unit. (Combined use with the built-in resistor is not possible.)
When the power supply regeneration method is used, consider using the MDS-D-V1/V2, MDS-D-SP/SP2 Series, MDS-
DM-SPV Series.
Regeneration method Explanation
1. Condenser regeneration method
This is a regeneration method for small-capacity drive units. The regeneration energy is charged to the condenser in the drive unit, and this energy is used during the next acceleration. The regeneration capacity decreases as the power supply voltage becomes higher.
2. Resistance regeneration method
If the condenser voltage rises too high when regenerating with the condenser only, the regenerative electrical power is consumed using the resistance. If the regeneration energy is small, it will only be charged to the condenser. Because regeneration energy becomes heat due to resistance, heat radiation must be considered. In large capacity drive units the regenerative resistance becomes large and this is not practical.
3. Power supply regeneration method
This is a method to return the regeneration energy to the power supply. The regeneration energy does not become heat as in regenerative resistance. (Heat is generated due to regeneration efficiency problems.) The circuit becomes complicated, but in large capacity drive units having large regeneration capacity this method improves regeneration frequency than regenerative resistor.
Make sure to mount the optional regenerative resistor outside the MDS-D-SPJ3 Series
(spindle) unit.
A built-in regenerative resistor is not mounted.
POINT
MDS-D-SVJ3/SPJ3 Series Specifications Manual
7-3 Selection of the regenerative resistor
7 - 15
7-3-2 Calculation of the regenerative energy
Calculate the regenerative energy for stopping from each axis' rapid traverse rate (maximum rotation speed for spindle),
and select a regenerative resistor having a capacity that satisfies the positioning frequency determined from the machine
specifications.
(1) For horizontal servo axis and spindle
The regenerative energy ER consumed by the regenerative resistor can be calculated from expression (7-13). If the ER
value is negative, all of the regenerative energy is absorbed by the capacitor in the drive unit (capacitor regeneration),
and the energy consumed by the regenerative resistor is zero (ER= 0).
(7-13)
(Example)When a load with the same inertia as the motor is connected to the HF54, determine the regenerative energy
to stop from the rated rotation speed. Note that the drive unit is MDS-D-SVJ3-07NA in this case.
According to expression (7-13), the regenerative energy ER is:
ER=5.4810-70.85(6.1+6.1)30002-18 =33.1(J)
Drive unit charging energy
Motor reverse efficiency
:Motor reverse efficiency
JL :Motor inertia (10-4kgm2)
JM :Load inertia (10-4kgm2) N :Motor speed (r/min) Ec :Unit charging energy (J)
Drive unit Charging energy Ec (J) Drive unit Charging energy Ec(J) MDS-D-SVJ3-03NA 9 MDS-D-SPJ3-075NA 18 MDS-D-SVJ3-04NA 11 MDS-D-SPJ3-22NA 40 MDS-D-SVJ3-07NA 18 MDS-D-SPJ3-37NA 40 MDS-D-SVJ3-10NA 30 MDS-D-SPJ3-55NA 45 MDS-D-SVJ3-20NA 40 MDS-D-SPJ3-75NA 45 MDS-D-SVJ3-35NA 40 MDS-D-SPJ3-110NA 90
Motor Motor reverse efficiency
Motor Motor reverse efficiency
HF75,105 0.85 All spindle motors 0.90 HF54, 104, 154, 224, 123, 223, 142 0.85
HF204, 354, 303, 302 0.85 HF-KP13 0.55 HF-KP23 0.70 HF-KP43 0.85 HF-KP73 0.85
The charging energy values apply when the unit input power voltage is 220V. If the input
voltage is higher, the charging energy decreases, and the regenerative energy increases.
ER 5.48 10 -7 (JL JM) N2 Ec (J)
POINT
7 Selection
MITSUBISHI CNC
7 - 16
(2) For servo unbalance axis
The regenerative energy differs in the upward stop and downward stop for an unbalance axis. A constant
regeneration state results during downward movement if the unbalance torque is the same as or larger than the
friction torque.
(Example)
Using a machine tool vertical axis driven by an HF154 motor, reciprocation is carried out with F30000 at an
acceleration/deceleration time constant of 100ms for a distance of 200mm. Obtain the regenerative energy per
reciprocation operation in this case.
Where:
Using expression (7-14), the upward stop regenerative energy ERU is as follows:
ERU = 5.2410-50.85203000100 - 40 =227.2 (J)
The acceleration/deceleration distance required to accelerate at the 100ms acceleration/deceleration time constant
to 30000mm/min. is as follows:
Therefore, the constant speed travel is 150mm.
The downward stop regenerative energy ERD is obtained using the following expression (7-15).
Thus, the regenerative energy per reciprocation operation ER is as follows:
ER = 227.2 + 601.2 = 828.4 (J)
Regenerative energy
Upward stop
A regenerative state only occurs when deceleration torque (downward torque) is
generated.
(7-14)
TduN
tdEc
:Motor reverse efficiency :Upward stop deceleration torque :Motor speed :Deceleration time (time constant) :Unit charging energy
(Nm) (r/min) (ms) (J)
Down- ward stop
A regenerative state occurs even during constant rate feed when the upward torque Ts during dropping is generated. Calculate so that Ts = 0 when Ts is
downward.
(7-15)
Ts L
S TddN
tdEc
:Motor reverse efficiency :Upward torque during dropping :Constant speed travel :Travel per motor rotation :Downward stop deceleration torque :Motor speed :Deceleration time (time constant) :Unit charging energy (J)
(Nm) (mm) (mm) (Nm) (r/min) (ms) (J)
The regenerative energy per cycle (ER) is obtained using expression (7-16) using one reciprocation as one cycle.
ER = ERU + ERD (J) (7-16)
Servo drive unit : MDS-D-SVJ3-20NA Travel per motor rotation : 10 mm Upward stop deceleration torque : 20 Nm Downward stop deceleration torque : 30 Nm Upward torque during downward movement : 3 Nm
ERU 5.24 10 -5 Tdu N td Ec J
2 Ts L ERD
S 5.24 10- 5 Tdd N t d Ec J
30000 100 2 601000
25 mm
0.85 3 150 ERD 10 5.24 10- 5 0.85 30 3000 100 40 601. 2 J
2
MDS-D-SVJ3/SPJ3 Series Specifications Manual
7-3 Selection of the regenerative resistor
7 - 17
7-3-3 Calculation of the positioning frequency
Select the regenerative resistor so that the positioning frequency (deceleration stopping frequency for spindle) DP
(times/minute) calculated from the regenerative resistor capacity PR (W) and regenerative energy ER (J) consumed
by the regenerative resistor is within the range shown in expression (7-17). For the unbalance axis, calculate using
the regenerative energy ER per reciprocation operation, and judge the numbers of operation cycles for rising and
lowering as DP.
(7-17)
List of servo regenerative resistor correspondence
Corresponding servo drive unit
Standard built-in regenerative resistor
External option regenerative resistor
MR-RB032 MR-RB12 MR-RB32 MR-RB30 MR-RB50 MR-RB31 MR-RB51
GZG200W120 OHMK
3 units
GZG200W3 9OHMK 3 units
GZG300W3 9OHMK 3 units
GZG200W2 0OHMK 3 units
GZG300W2 0OHMK 3 units
Parameter setting value
1200h 1300h 1400h 1500h 1600h 1700h 1800h
Regenerative capacity
30W 100W 300W 300W 500W 300W 500W
Resistance value
40 40 40 13 13 6.7 6.7
MDS-D-SVJ3-03NA 10W 100
MDS-D-SVJ3-04NA 10W 100
MDS-D-SVJ3-07NA 20W 40
MDS-D-SVJ3-10NA 100W 13
MDS-D-SVJ3-20NA 100W 9
MDS-D-SVJ3-35NA 100W 9
Corresponding servo drive unit
Standard built-in regenerative resistor
External option regenerative resistor
FCUA-RB22 FCUA-RB37 FCUA-RB55 R-UNIT2
FCUA-RB55 2 units
connected in parallel
FCUA-RB75/2 2 units
connected in parallel
Parameter setting value
2400h 2500h 2600h 2900h 2E00h 2D00h
Regenerative capacity
155W 185W 340W 700W 680W 680W
Resistance value
40 25 20 15 10 15
MDS-D-SVJ3-03NA 10W 100
MDS-D-SVJ3-04NA 10W 100
MDS-D-SVJ3-07NA 20W 40
MDS-D-SVJ3-10NA 100W 13
MDS-D-SVJ3-20NA 100W 9
MDS-D-SVJ3-35NA 100W 9
PR DP 48
ER (times/minute)
7 Selection
MITSUBISHI CNC
7 - 18
List of spindle regenerative resistor correspondence
Corresponding spindle drive unit
External option regenerative resistor
MR-RB12 MR-RB32 MR-RB30 MR-RB50
GZG200W39OHMK GZG200W120 OHMK3 units
GZG200W39 OHMK3 units
GZG300W39 OHMK3 units
Parameter setting value
1300h 1400h 1500h 1600h
Regenerative capacity
100W 300W 300W 500W
Resistance value 40 40 13 13
MDS-D-SPJ3-075NA ---
MDS-D-SPJ3-22NA ---
MDS-D-SPJ3-37NA ---
MDS-D-SPJ3-55NA ---
MDS-D-SPJ3-75NA ---
MDS-D-SPJ3-110NA ---
Corresponding spindle drive unit
External option regenerative resistor
FCUA-RB22 FCUA-RB37 FCUA-RB55 FCUA-RB75/2
(1 unit)
Parameter setting value
2400h 2500h 2600h 2700h
Regenerative capacity
155W 185W 340W 340W
Resistance value 40 25 20 30
MDS-D-SPJ3-075NA ---
MDS-D-SPJ3-22NA ---
MDS-D-SPJ3-37NA ---
MDS-D-SPJ3-55NA ---
MDS-D-SPJ3-75NA ---
MDS-D-SPJ3-110NA ---
Corresponding spindle drive unit
External option regenerative resistor
R-UNIT1 R-UNIT2 R-UNIT3 R-UNIT4 R-UNIT5
FCUA-RB55 2 units
connected in parallel
FCUA-RB75/2 2 units
connected in parallel
Parameter setting value
2800h 2900h 2A00h 2B00h 2C00h 2E00h 2D00h
Regenerative capacity
700W 700W 2100W 2100W 3100W 680W 680W
Resistance value 30 15 15 10 10 10 15
MDS-D-SPJ3-075NA ---
MDS-D-SPJ3-22NA ---
MDS-D-SPJ3-37NA ---
MDS-D-SPJ3-55NA ---
MDS-D-SPJ3-75NA ---
MDS-D-SPJ3-110NA ---
MDS-D-SPJ3 (spindle) unit is not equipped with a built-in regenerative resistor.
Thus, always mount the optional regenerative resistor outside the unit. CAUTION
Appendix 1 - 1
Ap1 Appendix 1
Cable and Connector Specifications
Appendix 1 Cable and Connector Specifications
MITSUBISHI CNC
Appendix 1 - 2
Appendix 1-1 Selection of cable Appendix 1-1-1 Cable wire and assembly
(1) Cable wire
The specifications of the wire used for each cable, and the machining methods are shown in this section. When
manufacturing the encoder cable and battery connection cable, use the recommended wires shown below or equivalent
products.
(a) Heat resistant specifications cable
(b) General-purpose heat resistant specifications cable
(Note 1) Bando Electric Wire (http://www.bew.co.jp/)
(Note 2) The Mitsubishi standard cable is the (a) Heat resistant specifications cable. For MDS-C1/CH series, (b) or
equivalent is used as the standard cable.
Core identification
Wire type (other
manufacturer's product)
Finish outer
diameter
Sheath material
No. of pairs
Wire characteristics
Configura- tion
Conductive resistor
Withstand voltage
Insulation resistance
Heat resistance
temperature Flexibility
BD20288 Compound 6-pair shielded cable Specification No. Bangishi-17145 (Note 1)
8.7mm Heat
resistant PVC
2
(0.5mm2)
100 strands/ 0.08mm
40.7/km or less
500VAC/ 1min
1000 M/km or more
105C
70104 times
or more at R200
4
(0.2mm2) 40 strands/
0.08mm 103/km or less
Wire type (other
manufacturer's product)
Finish outer
diameter
Sheath material
No. of pairs
Wire characteristics
Configura- tion
Conductive resistor
Withstand voltage
Insulation resistance
Heat resistance
temperature Flexibility
BD20032 Compound 6-pair shielded cable Specification No. Bangishi-16903 Revision No. 3 (Note 2))
8.7mm PVC
2
(0.5mm2) 100strands/
0.08mm 40.7/km
or less
500VAC/ 1min
1000 M/km or more
60C
100104 times
or more at R200
4
(0.2mm2) 40strands/ 0.08mm
103/km or less
Pair No. Insulator color L1 L2
A1 (0.5mm2) Red White
A2 (0.5mm2) Black White
B1 (0.2mm2) Brown Orange
B2 (0.2mm2) Blue Green
B3 (0.2mm2) Purple White
B4 (0.2mm2) Yellow White
A1
A2 B2
B1 B4
B3
L2 L1
Sheath
Mesh shield
Intervening wire
Tape
Compound 6-pair cable structure drawing
Cable core
Insulator Conductor
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 1-1 Selection of cable
Appendix 1 - 3
(c) HF-KP motor encoder cable
(Note 1) BANDO Electric Wire (http://www.bew.co.jp/)
Core identification
Wire type (other
manufacturer's product)
Finish outer
diameter
Sheath material
No. of pairs
Wire characteristics
Configura- tion
Conductive resistor
Withstand voltage
Insulation resistance
Heat resistance
temperature Flexibility
ETFESVP 60/ 0.08mm 4-pair shielded cable Specification No.Bangishi- 17669(Note 1))
7.1mm PVC 4
(0.5mm2) 60 strands/
0.08mm 73.0/km
or less 500VAC/
1min
1500 M/km or more
105C
R200
(70104 times or more)
No. Color
1 Black
2 White
3 Red
4 Green
5 Yellow
6 Brown
7 Blue
8 Gray
Sheath
Mesh shield
Intervening wire
Tape
4-pair shielded cable structure drawing
Insulator Conductor
Insulated cable core
Appendix 1 Cable and Connector Specifications
MITSUBISHI CNC
Appendix 1 - 4
(2) Cable assembly
Assemble the cable with the cable shield wire securely connected to the ground plate of the connector.
(3) Battery connection cable
(Note 1) Junkosha Inc. http://www.junkosha.co.jp/english/index.html
Dealer: TOA ELECTRIC INDUSTRIAL CO.,LTD. http://www.toadenki.co.jp/index_e.html
Two core shield cable structure drawing
Core identification
Wire type (other
manufacturer's product)
Finish outer
diameter
Sheath material
No. of pairs
Wire characteristics
Configura- tion
Conductive resistor
Withstand voltage
Insulation resistance
Heat resistance
temperature Flexibility
J14B101224-00 Two core shield cable
3.3mm PVC 1
(0.2mm2) 7strands /
0.2mm 91.2/km
or less AC500V/
1min
1000M/ km
or less 80C R33mm
No. Insulator color 1 Red 2 Black
Core wire
Shield (external conductor)
Sheath
Connect with a ground plate of connector.
1
2
JUNFLON ETFE wire
Sheath
Shield
R
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 1-2 Cable connection diagram
Appendix 1 - 5
Appendix 1-2 Cable connection diagram
Appendix 1-2-1 Battery cable
(Connection cable for alarm output between drive unit and MDS-BTBOX-36)>
1. Take care not to mistake the connection when manufacturing the encoder cable. Failure to
observe this could lead to faults, runaway or fire.
2. When manufacturing the cable, do not connect anything to pins which have no description.
CAUTION
1 2
1 2
BT LG
BT LG
0.2mm2
Drive unit side connector
Connector: DF1B-2S-2.5R Contact: DF1B-2428SCA
Drive unit side connector
Connector: DF1B-2S-2.5R Contact: DF1B-2428SCA
(Hirose Electric) (Hirose Electric)
1 2
BT LG
BT LG0.2mm2
: DF1B-2S-2.5R : DF1B-2428SCA
Battery box side Drive unit side connector
Connector Contact
(Hirose Electric)
20 13
4 1
FG
DICOM D11
P5 LG
DO(ALM)
+5V LG0.2mm2
:10120-3000VE :10320-52F0-008
0.2mm2
0.2mm2 +24V (I/O power side)
Case grounding
Drive unit side connector
Connector Shell kit
Battery box side(3M)
Blue
Light blue
Yellow
White
1 2
BT LG
BT LG0.2mm2
: DF3-2S-2C : DF3-2428SCC
Battery box side Drive unit side connector
Connector Contact
(Hirose Electric)
Appendix 1 Cable and Connector Specifications
MITSUBISHI CNC
Appendix 1 - 6
Appendix 1-2-2 Optical communication repeater unit cable
< F070 cable connection diagram >
< F110 cable connection diagram >
When DG24 cable is used, proximity switch or external emergency stop cannot be wired, so
these functions cannot be used. CAUTION
DCIN
0V
FG
1 2 3
0V
Optical communication repeater unit side connector (Tyco Electronics)24VDC power side terminal
(J.S.T.)
Crimping TerminalV1.25-3 or V1.25-4 2
24VDC24VDC
Connector2-178288-3 Contact1-175218-5 3
+24V
0V
FG
ACFAIL
0V
1B
2B
3B
1A
2A
1
2
3
2
1
+24V
0V
FG
ACFAIL
0V
AWG16
AWG22
DCOUT DCIN
CF01
24VDC power side connector (Tyco Electronics)
Connector3-178127-6 Contact1-175218-5 (for AWG16 ) 3
1-175217-5 (for AWG22 ) 2
Optical communication repeater unit side connector (Tyco Electronics)
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 1-2 Cable connection diagram
Appendix 1 - 7
Appendix 1-2-3 Servo / tool spindle encoder cable
1 2
9 7 8 3 4
PE
8 5 3 4 6 7 1 2 10
P5(+5V) LG
BT SD
SD* RQ
RQ*
P5(+5V) LG CNT BT SD SD* RQ RQ* SHD
0.5mm2
0.2mm2
0.2mm2
0.2mm2
Drive unit side connector (3M)
Receptacle: 36210-0100PL Shell kit: 36310-3200-008
(MOLEX) Connector set: 54599-1019
Case grounding
Motor encoder/ Ball screw side encoder side connector
Plug: CMV1-SP10S-M2 (Straight) CMV1-AP10S-M2 (Angle)
Contact: CMV1-#22ASC-S1
(DDK)
1 2
9 7 8 3 4
PE
8 5 3 4 6 7 1 2 10
P5(+5V) LG
BT SD
SD* RQ
RQ*
P5(+5V) LG CNT BT SD SD* RQ RQ* SHD
0.5mm2
0.2mm2
0.5mm2
0.2mm2
0.2mm2
Drive unit side connector (3M)
Receptacle: 36210-0100PL Shell kit: 36310-3200-008
(MOLEX) Connector set: 54599-1019
Case grounding
Motor encoder/ Ball screw side encoder side connector
Plug: CMV1-SP10S-M2 (Straight) CMV1-AP10S-M2 (Angle)
Contact: CMV1-#22ASC-S1
(DDK)
Appendix 1 Cable and Connector Specifications
MITSUBISHI CNC
Appendix 1 - 8
< CNV2E-K1P, CNV2E-K2P cable connection diagram (Direct connection type) >
< CNV22J-K1P, CNV22J-K2P cable connection diagram (Relay type) >
3 6 5 4 8 7 2 1 9
P5 LG MR
MRR MD
MDR BT
SD
P5 P5G MR MRR MD MDR BT CONT SD
1 2 3 4 7 8 9
Plate
(3M)
: 36210 - 0100PL : 36310 - 3200- 008
( ) : 54599-1019
Drive unit side connector
Receptacle Shell kit
MOLEX Connector set
Motor encoder connector/
(Tyco Electronics) Connector : 1674320-1
Ball screw side encoder side connector
8 5
4 6 7 1 2
3 6 1 2 8 7 5 4 910
BT SD
SD* RQ
RQ*
CNT BT SD SD* RQ RQ* SHD
0.08mm2
0.08mm2
0.08mm2
0.08mm2
P5(+5V) LG
P5(+5V) LG
Drive unit side connector
Case grounding
Motor encoder/ Ball screw side encoder side connector
Plug: 1747464-1 Contact: 1674335-4
Plug: CM10-CR10P-M (DDK) (Tyco Electronics)
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 1-2 Cable connection diagram
Appendix 1 - 9
1 2
10 3 4 5 6 7 8
PE
5 7 6 8 1 2 3 4 PE
P5(+5V) LG
RQ RQ*
SD SD*
P5(+5V) LG P5(+5V) LG RQ RQ* SD SD*
0.5mm2
0.5mm2
0.2mm2
0.2mm2
Drive unit side connector (3M)
Receptacle: 36210-0100PL Shell kit: 36310-3200-008
(MOLEX) Connector set: 54599-1019
MDS-B-HR unit side connector
Plug: RM15WTPZ-8S(71) Clamp: JR13WCCA-10(72)
Case grounding
Case grounding
(Hirose Electric)
9
10 7
8
1
2
3
4
5
6
11
12
PE
0.5mm2
0.5mm2
0.2mm2
0.2mm2
0.2mm2
0.2mm2
0.2mm2 R- R+ B-
SD SD
RQ RQ
A- A+
B+
P5(+5V) LG
Encoder conversion unit side connector
Plug: RM15WTPZ-12P(71) Clamp: JR13WCCA-10(72)
Case grounding
(Note) This cable must be prepared by the user.
(Hirose Electric)
Appendix 1 Cable and Connector Specifications
MITSUBISHI CNC
Appendix 1 - 10
(Note) This cable must be prepared by the user.
(Note) This cable must be prepared by the user.
For compatible encoder, refer to the section "Servo option" in Specifications Manual.
1 2 10 3 4 5 6 7 8 9
PE
P5(+5V) LG
ABZSEL* A A* B B* Z Z*
P5(+5V) LG
A A* B B* Z Z*
SHD
0.5mm2
0.5mm2
0.2mm2
0.2mm2
0.2mm2
Drive unit side connector
(3M) Receptacle: 36210-0100PL
Shell kit: 36310-3200-008 (MOLEX)
Connector set: 54599-1019
Case grounding
Contact the encoder manufacture for the details.
(Note) Contact the encoder manufacture about whether to perform the P5V wiring or not.
Machine side rectangular wave communication encoder
1 2 9
10 3 4 5 6 7 8
PE
P5(+5V) LG
RQ RQ*
SD SD*
P5(+5V) LG RQ RQ* SD SD* SHD
0.5mm2
0.5mm2
0.2mm2
0.2mm2
Drive unit side connector
(3M) Receptacle: 36210-0100PL
Shell kit: 36310-3200-008 (MOLEX)
Connector set: 54599-1019
Case grounding
Contact the encoder manufacture for the details.
(Note) Contact the encoder manufacture about whether to perform the P5V wiring or not.
Machine side serial communication encoder
Note: When using a linear scale manufactured by FAGOR, ground the encoder side SEL signal to LG.
POINT
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 1-2 Cable connection diagram
Appendix 1 - 11
Appendix 1-2-4 Spindle encoder cable
1 2
5 6
7 8 3 4
PE
7 8 2 1 5 6 3 4 9
P5(+5V) LG
MT1 MT2
SD SD* RQ
RQ*
P5(+5V) LG MT1 MT2 SD SD* RQ RQ* SHD
0.5mm2
0.2mm2
0.2mm2
0.2mm2
Spindle drive unit side connector (3M)
Receptacle: 36210-0100PL Shell kit: 36310-3200-008
(MOLEX) Connector set: 54599-1019
Case grounding
(Note) For the pin "7" or "8", use the contact "170364-1". For the other pins, use the contact "170363-1".
(Note)
Spindle motor side connector
Connector: 172169-1 Contact: 170363-1(AWG26-22) 170364-1(AWG22-18)
(Tyco Electronics)
1 2
5 6
7 8 3 4
PE
7
8 2 1 5 6 3 4 9
P5(+5V) LG
MT1 MT2
SD SD* RQ
RQ*
P5(+5V) LG MT1 MT2 SD SD* RQ RQ* SHD
0.5mm2
0.2mm2
0.2mm2
0.2mm2
0.5mm2
Spindle drive unit side connector (3M)
Receptacle: 36210-0100PL Shell kit: 36310-3200-008
(MOLEX) Connector set: 54599-1019
Case grounding
(Note) For the pin "7" or "8", use the contact "170364-1". For the other pins, use the contact "170363-1".
(Note)
Spindle motor side connector
Connector: 172169-1 Contact: 170363-1(AWG26-22) 170364-1(AWG22-18)
Tyco Electronics)
Appendix 1 Cable and Connector Specifications
MITSUBISHI CNC
Appendix 1 - 12
1 2
10 3 4
5 6 7 8
PE
H
K A N C R B P
P5(+5V) LG
ABZSEL* A
A*
B B* Z
Z*
P5(+5V) LG A A* B B* Z Z*
0.5mm2
0.2mm2
0.2mm2
0.2mm2
Spindle drive unit side connector (3M)
Receptacle: 36210-0100PL Shell kit: 36310-3200-008
(MOLEX) Connector set: 54599-1019
Case grounding
Spindle motor side connector
Connector: MS3106A20-29S (D190) Back shell: CE02-20BS-S (straight) CE-20BA-S (angle) Clamp: CE3057-12A-3
(DDK)
1 2
10 3 4
5 6 7 8
PE
H
K A N C R B P
P5(+5V) LG
ABZSEL* A
A*
B B* Z
Z*
P5(+5V) LG A A* B B* Z Z*
0.5mm2
0.2mm2
0.2mm2
0.2mm2
0.5mm2
Spindle drive unit side connector (3M)
Receptacle: 36210-0100PL Shell kit: 36310-3200-008
(MOLEX) Connector set: 54599-1019
Case grounding
Spindle motor side connector
Connector: MS3106A20-29S (D190) Back shell: CE02-20BS-S (straight) CE-20BA-S (angle) Clamp: CE3057-12A-3
(DDK)
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 1-3 Connector outline dimension drawings
Appendix 1 - 13
Appendix 1-3 Connector outline dimension drawings
Appendix 1-3-1 Connector for drive unit
Optical communication cable connector
(Note 1) The POF fiber's light amount will drop depending on how the fibers are wound. So, try to avoid wiring the
fibers.
(Note 2) Do not wire the optical fiber cable to moving sections.
(Note 1) The PCF fiber's light amount will drop depending on how the fibers are wound. So, try to avoid wiring the
fibers.
(Note 2) Do not wire the optical fiber cable to moving sections.
For wiring between NC and drive unit
Refer to the instruction manual for CNC.
Optical communication connector
For wiring between drive units (inside panel) Manufacturer: Japan Aviation Electronics Industry Connector:PF-2D103
[Unit:mm]
Cable appearance Connector: PF-2D103 (Japan Aviation Electronics Industry) Optical fiber: ESKA Premium (MITSUBISHI RAYON)
Optical communication connector
For wiring between drive units (outside panel) Manufacturer: Tyco Electronics Connector: 1123445-1
[Unit:mm]
Cable appearance Connector: 1123445-1 (Tyco Electronics) Optical fiber: ESKA Premium (MITSUBISHI RAYON)
(13.4) (15) (6.7)
(2 0.
9) 8+0
37.65
(2 .3
) (1
.7 )
L 0.1
L 0.2
m
m
22.7
8. 5
20
.3
Appendix 1 Cable and Connector Specifications
MITSUBISHI CNC
Appendix 1 - 14
Connector for encoder cable
Connector for CN4/CN9
(Note 1) The names of compatible parts may be changed at the manufacturer's discretion. Contact each manufacturer
for more information.
Spindle drive unit connector for CN2/CN3
Manufacturer: 3M Receptacle: 36210-0100PL Shell kit: 36310-3200-008 Compatible part (Note 1) (MOLEX) Connector set: 54599-1019 (J.S.T.) Plug connector: XV-10P-03-L-R Cable kit: XV-PCK10-R
[Unit:mm]
Connector for CN4/CN9
Manufacturer: 3M Connector: 10120-3000VE Shell kit: 10320-52F0-008 Compatible part (Note 1) (J.S.T.) Connector: MS-P20-L Shell kit: MS20-2B-28
[Unit:mm]
Manufacturer: 3M Connector: 10120-6000EL Shell kit:10320-3210-000 This connector is integrated with the cable, and is not available as a connector set option.
[Unit:mm]
Manufacturer: J.S.T. Connector: MS-P20-L Shell kit: MS20-2A-28
[Unit:mm]
22.4
8
10
11
33 .9
22.7
33.3
22.0
39 .0
23 .8
14.0
12.7
12.0
10 .0
11 .5
20.9
33 .0
42 .0
29.7
14
12.733.4
39
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 1-3 Connector outline dimension drawings
Appendix 1 - 15
Drive unit side main circuit connector
Drive unit CNP1 connector (for power supply), CNP3 connector (for motor power)
Manufacturer: MOLEX
[Unit:mm]
Type A B No. of poles
54928-0670 44 37.5 6 (for CNP1)
54928-0370 21.5 15 3 (for CNP3)
Manufacturer: Phoenix contact
[Unit:mm]
Type A No. of poles
PC4/6-STF-7.62-CRWH 38.10 6 (for CNP1)
PC4/3-STF-7.62-CRWH 15.24 3 (for CNP3)
Manufacturer: J.S.T.
[Unit:mm]
Type A B No. of poles
06JFAT-SAXGFS-XL 49.1 40 6 (for CNP1)
03JFAT-SAXGFS-XL 25.1 16.0 3 (for CNP3)
A (B)
5 7.5
7.5
1.5
Housing Housing cover
Pitch
A
A+7.6 7.62 30.7
18 .1
14.7 7.62 7.62
6 5 4 3 2 1
6 5 4 3 2 1
8 B A
31 .4
1. 2
17 .6
21 .1
5
14 .4
15 .7
9. 6
Appendix 1 Cable and Connector Specifications
MITSUBISHI CNC
Appendix 1 - 16
Drive unit CNP2 connector (for control power)
Manufacturer: MOLEX Connector:54927-0520
[Unit:mm]
Manufacturer: J.S.T. Connector:05JFAT-SAXGSA-E-SS
[Unit:mm]
Connection lever for drive unit
Manufacturer: MOLEX Connector:54932-0000
[Unit:mm]
26.5
(20)
5
5
1.5
Housing Housing cover
Pitch
5.08
(20.32)
27.9
27 .6
(1 5.
6)
(2 0)
(8) (8.4)
3. 4
M X J 5 4 9 3 2
20.6 10
4. 9
6. 5(3
) 4.
77. 7
(7 .7
)
(3.4)
(4.9)
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 1-3 Connector outline dimension drawings
Appendix 1 - 17
Appendix 1-3-2 Connector for servo and tool spindle
(Note) For the manufacturing method of CMV1 series connector, refer to the section "Cable and Connector
Assembly" in Instruction Manual.
Contact: Fujikura Ltd. http://www.fujikura.co.jp/eng/
Motor side encoder connector / Ball screw side encoder for connector
Manufacturer: DDK Plug:CMV1-SP10S-M2
[Unit:mm]
Manufacturer: DDK Plug:CMV1-AP10S-M2
[Unit:mm]
Motor side encoder connector
Manufacturer: Tyco Electronics Assembly: 1674320-1
[Unit:mm]
21 21
50
32
21
33
15
10 18
23
6. 2 6
14.2
13
13.6
30
Appendix 1 Cable and Connector Specifications
MITSUBISHI CNC
Appendix 1 - 18
Brake connector
(Note) For the manufacturing method of CMV1 series connector, refer to the section "Cable and Connector
Assembly" in Instruction Manual.
Brake connector
Manufacturer: DDK Plug: CMV1-SP2S-S
[Unit:mm]
Manufacturer: DDK Plug: CMV1-AP2S-S
[Unit:mm]
Manufacturer: Japan Aviation Electronics Industry JN4FT02SJ1-R
[Unit:mm]
21 21
50
32
21
33
26.6 17
12.3
19 14 .3
12 .5
12.7
11 .8
2. 5
R6
11 .6
R4
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 1-3 Connector outline dimension drawings
Appendix 1 - 19
Motor power connector
Plug:
Plug:
Clamp:
Motor power connector
Manufacturer: DDK
[Unit:mm]
Type A B +0
C0.8 D or less W -0.38
CE05-6A18-10SD-C-BSS 11/8-18UNEF-2B 34.13 32.1 57 1-20UNEF-2A
CE05-6A22-22SD-C-BSS 13/8-18UNEF-2B 40.48 38.3 61 13/16-18UNEF-2A
Manufacturer: DDK
[Unit:mm]
Type A B +0
D or less W R0.7 U0.7 (S)1 Y or more -0.38
CE05-8A18-10SD-C-BAS 11/8-18UNEF-2B 34.13 69.5 1-20UNEF-2A 13.2 30.2 43.4 7.5
CE05-8A22-22SD-C-BAS 13/8-18UNEF-2B 40.48 75.5 13/16-18UNEF-2A 16.3 33.3 49.6 7.5
Manufacturer: DDK
[Unit:mm]
Type Shel l size
Total length
A
Outer dia. B
Avail. screw length
C
D E F G H Fitting screw
V Bushing
Applicable cable
CE3057-10A-1(D240) 18 23.8 30.1 10.3 41.3 15.9 14.1 31.7 3.2 1-20UNEF-2B CE3420-10-1 10.5 to 14.1
CE3057-12A-1(D240) 20 23.8 35 10.3 41.3 19 16.0 37.3 4 13/16-18UNEF-2B CE3420-12-1 12.5 to 16.0
W A
C
0. 8
-0 .3
8 +0
B
D or less
7.85 or more
R 0
.7
U
0. 7 S
1
W
A
-0 .3
8 +0
B
D or less Y
or
m or
e
E
H
G
0. 7
C A
1.6
F
D
B
0. 7
(Movable range of one side)
(Inner diameter of cable clamp)(B us
hi ng
in ne
r di
am et
er )
V screw
Appendix 1 Cable and Connector Specifications
MITSUBISHI CNC
Appendix 1 - 20
MDS-B-HR connector
Motor power connector
Manufacturer: Japan Aviation Electronics Industry JN4FT04SJ1-R
[Unit:mm]
MDS-B-HR connector
Manufacturer: Hirose Electric Plug: RM15WTPZ-8S(71) (for CON1,2) RM15WTPZ-12P(71) (for CON3) RM15WTPZ-10P(71) (for CON4)
[Unit:mm]
Manufacturer: Hirose Electric Clamp: JR13WCCA-10(72)
[Unit:mm]
11.7 16
27
24 .5
20 .1
18 .9
4-R2
12.7
7
12.7
13 .7
2. 5
R0.5
R6
13 .1
M160.75 M191
36.8
15 .2
23
8.5
19
20
10 .5
M160.75
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 1-3 Connector outline dimension drawings
Appendix 1 - 21
Appendix 1-3-3 Connector for spindle
Motor encoder connector
Motor side PLG (TS5690) connector
Manufacturer: Tyco Electronics Plug: 172169-1
[Unit:mm]
23.7 0.4
9.3
14
4. 2
2.
8
8. 4
16 0.4
2.8
8.4
14
4.2
Appendix 1 Cable and Connector Specifications
MITSUBISHI CNC
Appendix 1 - 22
Spindle side encoder connector (for OSE-1024)
Manufacturer: DDK Connector: MS3106A20-29S(D190)
[Unit:mm]
Manufacturer: DDK Straight back shell: CE02-20BS-S
[Unit:mm]
Manufacturer: DDK Angle back shell: CE-20BA-S
[Unit:mm]
Manufacturer: DDK Cable clamp:CE3057-12A-3
[Unit:mm]
-0 .2
5 +0
.0 5
26 .8
18.26 0.12
12.16 0.3 34.11 0.5
11/8-18UNEF- 2A
11/4-18UNEF-2B
-0 .3
8 +0
37
.2 8
Gasket
13/16- - 2A
17 .8
35
35 10.9
11/8-18UNEF-2B
7.85
31.6
18UNEF
(effective screw length) (Spanner grip)
screw
screw
O-ring
or more
38 .6
16 .3
49 .6
33 .3
13/16-18UNEF-2A
11/4-18UNEF-2B
O-ring
screw 50.5 or less
39.6 or less
7. 5
or m
or e
screw
19
4
37 .3
0.
7
23.8 10.3
1.6
10
41.3
35
0. 7
13/16-18UNEF-2B screw
(Moveable range of one side)
(Cable clamp inside diameter)
Appendix 2 - 1
Ap2 Appendix 2
Restrictions for Lithium Batteries
Appendix 2 Restrictions for Lithium Batteries
MITSUBISHI CNC
Appendix 2 - 2
Appendix 2-1 Restriction for Packing When transporting lithium batteries with means such as by air transport, measures corresponding to the United Nations
Dangerous Goods Regulations (hereafter called "UN Regulations") must be taken.
The UN Regulations classify the batteries as dangerous goods (Class 9) or not dangerous goods according to the lithium
metal content. To ensure safety during transportation, lithium batteries (battery unit) directly exported from Mitsubishi are
packaged in a dedicated container (UN package) for which safety has been confirmed.
When the customer is transporting these products with means subject to the UN Regulations, such as air transport, the
shipper must follow the details explained in the section "Transportation Restrictions for Lithium Batteries: Handling by User".
The followings are restrictions for transportation. Each restriction is specified based on the recommendation of the United
Nations.
Appendix 2-1-1 Target Products
The following Mitsubishi NC products use lithium batteries. If the lithium metal content exceeds 1g for battery cell and 2g for
battery, the battery is classified as dangerous good (Class9).
In order to avoid an accidental actuation during the transportation, all lithium battery products incorporated in a machinery or
device must be fixed securely and must be shipped with wrapped over the outer package as to prevent damage or short-
circuits.
(1) Materials falling under Class 9
(2) Materials not falling under Class 9
(Note) If the number of batteries exceeds 24 batteries for the battery cell or 12 batteries for the battery, the dedicated
packing (for materials falling under Class 9) is required.
Area Transportation method Restriction Special clause World Air ICAO, IATA - World Marine IMO 188
United States All (air, marine, land) DOT 49 CFR 173.185 Europe land RID, ADR -
Mitsubishi type (Type for arrangement)
Battery type Lithium metal
content
Number of incorporated
batteries
Application (Data backup)
Battery class
Outline dimension drawing
CR23500SE-CJ5 CR23500SE-CJ5 1.52g - For NC SRAM
(M500) Battery
cell
Refer to "Battery Option" in the specification manual for drive unit you are using for the outline dimension drawing for servo.
Mitsubishi type (Type for arrangement)
Battery type Lithium metal
content
Number of incorporated
batteries
Application (Data backup)
Battery class
Outline dimension drawing
CR2032 (for built-in battery)
CR2032 0.067g - For NC SRAM/
Battery cell
Refer to "Battery Option" in the specification manual for drive unit you are using for the outline dimension drawing for servo.
CR2450 (for built-in battery)
CR2450 0.173g - For NC SRAM
ER6, ER6V series (for built-in battery)
ER6, ER6V 0.65g - For NC SRAM/ servo encoder
A6BAT(MR-BAT) ER17330V 0.48g - For servo encoder Q6BAT Q6BAT 0.49g - For NC SRAM MDS-BAT6V1SET
2CR17335A 1.2g 2 For servo encoder Battery MR-BAT6V1SET
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 2-1 Restriction for Packing
Appendix 2 - 3
Appendix 2-1-2 Handling by User
The shipper must confirm the latest IATA Dangerous Goods Regulations, IMDG Codes and laws and orders of the
corresponding export country.
These should be checked by the company commissioned for the actual transportation.
IATA: International Air Transport Association
http://www.iata.org/
IMDG Code: A uniform international code for the transport of dangerous goods by seas determined by IMO (International
Maritime Organization).
http://www.imo.org/
Appendix 2-1-3 Reference
Refer to the following materials for details on the regulations and responses.
Guidelines regarding transportation of lithium batteries and lithium ion batteries
Battery Association of Japan
http://www.baj.or.jp/e/
Appendix 2 Restrictions for Lithium Batteries
MITSUBISHI CNC
Appendix 2 - 4
Appendix 2-2 Products Information Data Sheet (ER Battery) MSDS system does not cover the product used in enclosed state. The ER battery described in this section applies to that
product.
This description is applied to the normal use, and is provided as reference but not as guarantee.
This description is based on the lithium battery's (ER battery) hazardous goods data sheet (Products Information Data Sheet)
which MITSUBISHI has researched, and will be applied only to the ER batteries described in "Transportation Restrictions for
Lithium Batteries: Restriction for Packing".
(1) Outline of hazard
(2) First-aid measure
(3) Fire-fighting measure
(4) Measure for leakage
(5) Handling and storage
Principal hazard and effect Not found.
Specific hazard
As the chemical substance is stored in a sealed metal container, the battery itself is not hazardous. But when the internal lithium metal attaches to human skin, it causes a chemical skin burn. As a reaction of lithium with water, it may ignite or forms flammable hydrogen gas.
Environmental effect Not found.
Possible state of emergency Damages or short-circuits may occur due to external mechanical or electrical pressures.
Inhalation If a person inhales the vapor of the substance due to the battery damage, move the person immediately to fresh air. If the person feels sick, consult a doctor immediately.
Skin contact If the content of the battery attaches to human skin, wash off immediately with water and soap. If skin irritation persists, consult a doctor.
Eye contact In case of contact with eyes due to the battery damage, rinse immediately with a plenty of water for at least 15 minutes and then consult a doctor.
Ingestion If swallowed, consult a doctor immediately.
Appropriate fire-extinguisher Dry sand, dry chemical, graphite powder or carbon dioxide gas Special fire-fighting measure Keep the battery away from the fireplace to prevent fire spreading. Protectors against fire Fire-protection gloves, eye/face protector (face mask), body/skin protective cloth
Environmental precaution Dispose of them immediately because strong odors are produced when left for a long time.
How to remove Get them absorbed into dry sand and then collect the sand in an empty container.
Handling Cautions for safety handling
Do not peel the external tube or damage it. Do not dispose of the battery in fire or expose it to heat. Do not immerse the battery in water or get it wet. Do not throw the battery. Do not disassemble, modify or transform the battery. Do not short-circuit the battery.
Storage Appropriate storage condition
Avoid direct sunlight, high temperature and high humidity. (Recommended temp. range: +5 to +35C, humidity: 70%RH or less)
Material to avoid Flammable or conductive material (Metal: may cause a short-circuit)
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 2-2 Products Information Data Sheet (ER Battery)
Appendix 2 - 5
(6) Physical/chemical properties
(7) Stability and reactivity
(8) Toxicological information
As the chemical substance is stored in a sealed metal container, the battery has no harmfulness. Just for reference, the
table below describes the main substance of the battery.
< Lithium metal >
< Thionyl chloride >
< Aluminum chloride >
< Lithium chloride >
< Carbon black >
(9) Ecological information
(10) Caution for disposal
Dispose of the battery following local laws or regulations.
Pack the battery properly to prevent a short-circuit and avoid contact with water.
Appearance
Physical form Solid
Shape Cylinder type
Smell Odorless
pH Not applicable (insoluble)
Boiling point/Boiling range, Melting point, Decomposition temperature, Flash point
No information
Stability Stable under normal handling condition.
Condition to avoid Do not mix multiple batteries with their terminals uninsulated. This may cause a short- circuit, resulting in heating, bursting or ignition.
Hazardous decomposition products
Irritative or toxic gas is emitted in the case of fire.
Acute toxicity No information Local effect Corrosive action in case of skin contact
Acute toxicity Lc50: 500ppm (inhaled administration to rat)
Local effect The lungs can be damaged by chronic cough, dyspnea and asthma.
Acute toxicity LD50: 3700ppm (oral administration to rat)
Local effect Not found.
Acute toxicity LD50: 526ppm (oral administration to rat)
Local effect The central nerves and kidney can be influenced.
Acute toxicity LD50: 2,000mg/kg > (rat)
Carcinogenicity LARC group 2 (suspected of being carcinogenic)
Mobility, Persistence/ Decomposability, Bio- accumulation potential, Ecological toxicity
Not found.
Appendix 2 Restrictions for Lithium Batteries
MITSUBISHI CNC
Appendix 2 - 6
Appendix 2-3 Forbiddance of Transporting Lithium Battery by Passenger
Aircraft Provided in the Code of Federal Regulation This regulation became effective from Dec.29, 2004. This law is a domestic law of the United States, however it also applies
to the domestic flight and international flight departing from or arriving in the United States. Therefore, when transporting
lithium batteries to the United State, or within the United State, the shipper must take measures required to transport lithium
batteries. Refer to the Federal Register and the code of Federal Regulation for details.
When transporting primary lithium battery by cargo aircraft, indicate that transportation by passenger aircraft is forbidden on
the exterior box.
"Lithium Metal batteries forbidden for transport aboard Passenger aircraft"
Appendix 2-4 California Code of Regulation "Best Management Practices
for Perchlorate Materials" When any products that contain primary lithium batteries with perchlorate are shipped to or transported through the State of
California, they are subject to the above regulation.The following information must be indicated on the package, etc. of the
products that contain primary lithium batteries (with a perchlorate content of 6 ppb or higher).
"Perchlorate Meterial-special handling may apply. See http://www.dtsc.ca.gov/hazardouswaste/perchlorate"
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 2-5 Restriction Related to EU Battery Directive
Appendix 2 - 7
Appendix 2-5 Restriction Related to EU Battery Directive EU Battery Directive (2006/66/EC) has been enforced since September 26th in 2008. Hereby, battery and machinery
incorporating battery marketed in European Union countries must be in compliance with the EU Battery Directive.
Lithium battery provided by MITSUBISHI are subjected to this restriction.
Appendix 2-5-1 Important Notes
Follow the instruction bellow as shipping products incorporating MITSUBISHI device.
(1) When shipping products incorporating MITSUBISHI device any time later than September 26th, 2008, the symbol mark
shown as Figure 1 in section "Information for End-user" is required to be attached on the machinery or on the package.
Also, the explanation of the symbol must be added.
(2) Machinery with battery and maintenance battery produced before the EU Battery Directive are also subjected to the
restriction. When shipping those products to EU countries later than September 26th, 2008, follow the instruction
explained in (1).
Appendix 2-5-2 Information for End-user
Figure 1
Note: This symbol mark is for EU countries only. This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II. Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and/or reused. This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately from your household waste. If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration. This will be indicated as follows:Hg: mercury (0,0005% ), Cd: cadmium (0,002% ), Pb: lead (0,004% ) In the European Union there are separate collection systems for used batteries and accumulators. Please, dispose of batteries and accumulators correctly at your local community waste collection/recycling centre. Please, help us to conserve the environment we live in!
Appendix 2 Restrictions for Lithium Batteries
MITSUBISHI CNC
Appendix 2 - 8
Appendix 3 - 1
Ap3 Appendix 3
EC Declaration of Conformity
Appendix 3 EC Declaration of Conformity
MITSUBISHI CNC
Appendix 3 - 2
Appendix 3-1 Compliance to EC Directives Each series can respond to LVD and EMC directive.
Approval from a third party certification organization has been also acquired for the Low Voltage Directive.
The declaration of conformity of each unit is shown below.
MDS-D-SVJ3/SPJ3 Series
Appendix 4 - 1
Ap4 Appendix 4
Instruction Manual for Compliance with UL/c-UL Standard
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
MITSUBISHI CNC
Appendix 4 - 2
The instructions of UL/c-UL listed products are described in this manual.
The descriptions of this manual are conditions to meet the UL/c-UL standard for the UL/c-UL listed products. To obtain the
best performance, be sure to read this manual carefully before use.
To ensure proper use, be sure to read specification manual, connection manual and maintenance manual carefully for each
product before use.
UL File No. E131592 (MDS-D, D2/DH, DH2/DM, DM2/DJ Series)
Appendix 4-1 Operation Surrounding Air Ambient Temperature The recognized operation ambient temperature of each unit are as shown in the table below. The recognized operation
ambient temperatures are the same as an original product specification for all of the units.
Appendix 4-2 Notes for AC Servo/Spindle System Appendix 4-2-1 Warning
It takes 15 minutes maximum to discharge the bus capacitor. (The capacitor discharge time is one minute for Models
MDS-D-SVJ3-03, MDS-DJ-V1-10; two min. for Models MDS-D-SVJ3-04, MDS-DJ-V1-15, three min. for Model MDS-D-
SVJ3-07, MDS-DJ-V1-30, 9 min. for Models MDS-D-SVJ3-10, -20 and -35, MDS-DJ-V1-40, -80 and -100, 10 min. for
Models MDS-D, D2/DH, DH2/DM, DM2/PFU/DJ.)
When starting wiring or inspection, shut the power off and wait for more than 15 minutes to avoid a hazard of electrical
shock.
Appendix 4-2-2 Installation
MDS-D, D2/DH, DH2/DM, DM2/DJ Series are UL/c-UL listed "open type" drives and must be installed into an end-use
electrical enclosure. The minimum enclosure size is based on 150 percent of each MDS-D, D2/DH, DH2/DM, DM2/DJ
Series combination. MDS-D, D2/DH, DH2/DM, DM2/DJ Series are installed a pollution degree 2 environment.
And also, design the enclosure so that the ambient temperature in the enclosure is 55C (131F) or less, refer to the
specifications manual.
Appendix 4-2-3 Short-circuit Ratings (SCCR)
Suitable for use in a circuit capable of delivering not more than 100kA rms symmetrical amperes, 500 volts maximum.
(MDS-D2-CV, MDS-DM/DM2-SPV are suitable for use in a circuit capable of delivering 230 volts maximum, MDS-DH2-
CV suitable for use in a circuit capable of delivering 480 volts maximum.)
(MDS-D/DH-PFU, MDS-D-DBU, MDS-D2-CV-550, MDS-DH2-CV-550,-750, MDS-DJ-SP-100,-120,-160, MDS-DJ-V2-
3030, MDS-DJ-SP2-2020 is suitable for use in a circuit capable of delivering not more than 5kA rms symmetrical
amperes.)
Appendix 4-2-4 Over-temperature Protection for Motor
Motor Over temperature sensing is not provided by the drive.
Classification Unit name Operation ambient
temperature
AC servo/spindle system
Power supply unit, AC Reactor 0 to 55C Servo, Spindle drive unit 0 to 55C Multi Axis unit (Multi-Hybrid drive unit) 0 to 55C Power Backup unit 0 to 55C Option unit, Battery unit 0 to 55C Servo motor, Spindle motor 0 to 40C
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 4-2 Notes for AC Servo/Spindle System
Appendix 4 - 3
Appendix 4-2-5 Peripheral Devices
To comply with UL/c-UL Standard, use the peripheral devices which conform to the corresponding standard.
Circuit Protector, Fuses, Magnetic contactor and AC Reactor
(Note (*)) : may be followed by 2
(Note (#)) : may be followed by S
(Note (##)) : may be followed by N or NA
Applicable power supply unit
UL489 Circuit Protector
UL Fuse Class T
Magnetic contactor (AC3)
AC Reactor
MDS-D(*)-CV-37 20A 30A S-N12/S-T12 D-AL-7.5K MDS-D(*)-CV-75 40A 60A S-N25/S-T35 D-AL-7.5K
MDS-D(*)-CV-110 60A 70A S-N35/S-T35 D-AL-11K MDS-D(*)-CV-185 100A 125A S-N65/S-T65 D-AL-18.5K MDS-D(*)-CV-300 150A 200A S-N95/S-T80 D-AL-30K MDS-D(*)-CV-370 200A 225A S-N150 D-AL-37K MDS-D(*)-CV-450 225A 250A S-N150 D-AL-45K MDS-D(*)-CV-550 300A 400A S-N300 D-AL-55K MDS-DH(*)-CV-37 10A 10A S-N12/S-T12 DH-AL-7.5K MDS-DH(*)-CV-75 20A 25A S-N12/S-T12 DH-AL-7.5K
MDS-DH(*)-CV-110 30A 35A S-N21/S-T21 DH-AL-11K MDS-DH(*)-CV-185 50A 70A S-N25/S-T35 DH-AL-18.5K MDS-DH(*)-CV-300 75A 110A S-N50/S-T50 DH-AL-30K MDS-DH(*)-CV-370 100A 125A S-N65/S-T65 DH-AL-37K MDS-DH(*)-CV-450 125A 150A S-N80/S-T80 DH-AL-45K MDS-DH(*)-CV-550 150A 200A S-N95/S-T80 DH-AL-55K MDS-DH(*)-CV-750 200A 300A S-N150 DH-AL-75K
Applicable drive unit
UL 489 Circuit Protector (240Vac)
UL Fuse Class T (300Vac)
Magnetic contactor (AC3)
MDS-D-SVJ3(#)-03(##) MDS-DJ-V1-10
5A 10A S-N12/S-T12
MDS-D-SVJ3(#)-04(##) MDS-DJ-V1-15
5A 20A S-N12/S-T12
MDS-D-SVJ3(#)-07(##) MDS-DJ-V1-30
5A 20A S-N12/S-T12
MDS-D-SVJ3(#)-10(##) MDS-DJ-V1-40
10A 20A S-N12/S-T12
MDS-D-SVJ3(#)-20(##) MDS-DJ-V1-80
15A 40A S-N21/S-T18
MDS-D-SVJ3(#)-35(##) MDS-DJ-V1-100
20A 70A S-N21/S-T20
MDS-D-SPJ3(#)-075(##) MDS-DJ-SP-20
5A 15A S-N12/S-T12
MDS-D-SPJ3(#)-22(##) MDS-DJ-SP-40
15A 40A S-N12/S-T12
MDS-D-SPJ3(#)-37(##) MDS-DJ-SP-80
30A 60A S-N21/S-T20
MDS-D-SPJ3(#)-55(##) MDS-DJ-SP-100
40A 90A S-N25/S-T35
MDS-D-SPJ3(#)-75(##) MDS-DJ-SP-120
50A 125A S-N25/S-T35
MDS-D-SPJ3(#)-110(##) MDS-DJ-SP-160
75A 175A S-N50/S-T35
MDS-DJ-V2-3030 10A 20A S-N12/S-T12 MDS-DJ-SP2-2020 10A 15A S-N12/S-T12
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
MITSUBISHI CNC
Appendix 4 - 4
(Note (*)) : may be followed by 2
Circuit Protector for spindle motor Fan
Select the Circuit Protector by doubling the spindle motor fan rated.
A rush current that is approximately double the rated current will flow, when the fan is started.
Applicable drive unit
UL489 Circuit Protector
UL Fuse Class T (300Vac)
Magnetic contactor (AC3)
AC Reactor
MDS-DM(*)-SPV2-10080 40A 80A S-N65/S-T65 D-AL-18.5K MDS-DM(*)-SPV2-16080 50A 100A S-N65/S-T65 D-AL-18.5K MDS-DM(*)-SPV2-20080 60A 125A S-N65/S-T65 D-AL-18.5K MDS-DM(*)-SPV3-10080 50A 100A S-N65/S-T65 D-AL-18.5K MDS-DM(*)-SPV3-16080 60A 125A S-N65/S-T65 D-AL-18.5K MDS-DM(*)-SPV3-20080 75A 150A S-N65/S-T65 D-AL-18.5K MDS-DM2-SPHV3-20080 75A 150A S-N65/S-T65 D-AL-18.5K MDS-DM(*)-SPV3-200120 75A 150A S-N65/S-T65 D-AL-18.5K MDS-DM-SPV2F-10080 40A 80A S-N65/S-T65 D-AL-18.5K MDS-DM-SPV2F-16080 50A 100A S-N65/S-T65 D-AL-18.5K MDS-DM-SPV2F-20080 60A 125A S-N65/S-T65 D-AL-18.5K MDS-DM-SPV3F-10080 50A 100A S-N65/S-T65 D-AL-18.5K MDS-DM-SPV3F-16080 60A 125A S-N65/S-T65 D-AL-18.5K MDS-DM-SPV3F-20080 75A 150A S-N65/S-T65 D-AL-18.5K
MDS-DM-SPV3F-200120 75A 150A S-N65/S-T65 D-AL-18.5K MDS-DM-SPV2S-10080 40A 80A S-N65/S-T65 D-AL-18.5K MDS-DM-SPV2S-16080 50A 100A S-N65/S-T65 D-AL-18.5K MDS-DM-SPV2S-20080 60A 125A S-N65/S-T65 D-AL-18.5K MDS-DM-SPV3S-10080 50A 100A S-N65/S-T65 D-AL-18.5K MDS-DM-SPV3S-16080 60A 125A S-N65/S-T65 D-AL-18.5K MDS-DM-SPV3S-20080 75A 150A S-N65/S-T65 D-AL-18.5K
MDS-DM-SPV3S-200120 75A 150A S-N65/S-T65 D-AL-18.5K
Applicable Power Backup Unit
UL489 Circuit Protector
Regenerative Resistance Unit
MDS-DH-PFU 10A R-UNIT-6 MDS-D-PFU 10A R-UNIT-7
- For installation in United States, branch circuit protection must be provided, in accordance with the National
Electrical Code and any applicable local codes. - For installation in Canada, branch circuit protection must be provided, in accordance with the Canadian
Electrical Code and any applicable provincial codes.
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 4-2 Notes for AC Servo/Spindle System
Appendix 4 - 5
Appendix 4-2-6 Field Wiring Reference Table for Input and Output (Power Wiring)
Use the UL-approved Round Crimping Terminals to wire the input and output terminals of MDS-D, D2/DH, DH2/DM,
DM2-SPV/DJ Series. Crimp the terminals with the crimping tool recommended by the terminal manufacturer. Please
protect terminal ring by the insulation cover.
Following described crimping terminals and tools type are examples of Japan Solderless Terminal Mfg. Co., Ltd.
This wire size is each unit maximum rating. The selection method is indicated in each specification manual.
(See Manual: No. IB-1500158, 1500875, 1500891, 1501130, 1501124 or 1501136)
(1) Power Supply Unit (MDS-D, D2/DH, DH2-CV)
TE2 (L+, L-)
TE3 (L11, L21)
TE1 (L1, L2, L3, )
(Note 1) 75 C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).
Use copper wire only.
Above listed wire are for use in the electric cabinet on machine or equipment.
(Note (*)) : may be followed by 2
Unit Type MDS-D(*)-CV- 37 to 75 110 to 185 300 to 450 550 MDS-DH(*)-CV- ------ 37 to 185 300 to 750 --- ---
Terminal Screw Size
TE2 (L+, L-) Torque [lb in/ N m]
M6 M6 M6 M6 M10 35.4/4.0 35.4/4.0 35.4/4.0 35.4/4.0 97.3/11.0
TE3 (L11, L21) Torque [lb in/ N m]
M4 M4 M4 M4 --- 10.6/1.2 10.6/1.2 10.6/1.2 10.6/1.2 ---
TE1 (L1, L2, L3, ) Torque [lb in/ N m]
M4 M5 M8 M10 --- 10.6/1.2 17.7/2.0 53.1/6.0 97.3/11.0 ---
Unit Type MDS-D(*)-CV- --- 37 75 110 185 --- 300 to 550
MDS-DH(*)-CV- 37,75 --- 110 185 300,370 450 550, 750
Wire Size (AWG)
/Temp Rating Note 1 #14
/75C #12
/75C #10
/75C #8
/75C #4
/75C #2
/75C
or Bus- bar
Bus-bar
Crimping Terminals Type R2-6 R5.5-6 R5.5-6 R8-6 R22-6 R38-6 --- ---
Crimping Tools Type YHT- 2210
YHT- 2210
YHT- 2210
YPT- 60-21
YPT- 60-21
YPT- 60-21
--- ---
Unit Type MDS-D(*)/DH(*)-CV- 37 to 750
Wire Size (AWG)/Temp Rating Note 1 #14/75C
Crimping Terminals Type R2-4
Crimping Tools Type YHT-2210
Unit Type MDS-D(*)-CV- 37 --- 75 110 185
MDS-DH(*)-CV- 37, 75 110 --- 185 ---
Wire Size (AWG)/Temp Rating Note 1 #14/75C #12/75C #10/75C #8/75C #6/75C
Crimping Terminals Type R2-4 R5.5-5 5.5-S4 R8-5 R14-5
Crimping Tools Type YHT-2210 YHT-2210 YHT-2210 YPT-60-21 YPT-60-21
Unit Type MDS-D(*)-CV- --- --- 300 370, 450 550
MDS-DH(*)-CV- 300 370, 450 550 750 ---
Wire Size (AWG)/Temp Rating Note 1 #6/75C #4/75C #2/75C #1/0/75C #3/0/75C
Crimping Terminals Type R14-8 R22-8 38-S8 60-S8 80-10
Crimping Tools Type YPT-60-21 YPT-60-21 YPT-60-21 YPT-60-21 YPT-150-1
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
MITSUBISHI CNC
Appendix 4 - 6
(2) Spindle Drive Unit (MDS-D, D2/DH, DH2-SP/SP2, MDS-D-SPJ3, MDS-DJ)
TE2 (L+, L-)
Wire size depends on the Power Supply Unit (MDS-D,D2/DH,DH2-CV Series).
TE3 or CNP2 (L11, L21)
TE1 (U, V, W, )
CNP1 (L1, L2, L3), CNP3 (U, V, W) and
(Note 1) 75 C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).
Use copper wire only. Above listed wire are for use in the electric cabinet on machine or equipment.
(Note (#)) :may be followed by S
(Note (##)) :may be followed by N or NA
(Note (*)) :may be followed by 2
(Note 2) The servo motor cable can be selected in accordance with the stall current.
The spindle motor cable can be selected in accordance with the continuous rated current.
(Note 3) Select the motor so that the current value of motor become below in the current value of drive.
Unit Type
MDS-D(*)-SP(#)- 160 to 200 240 to 320 400 to 640 --- --- ---
MDS-D-SPJ3(#)- --- --- --- 22, 37(##) 22(##) 55(##), 75(##),
110(##)
MDS-DJ-SP- --- --- --- --- 20,40,80 100,120,160
MDS-DJ-SP2- --- --- --- --- 2020 ---
MDS-DH(*)-SP(#)- 100 to 160 200 to 480 --- --- --- ---
Terminal Screw Size
TE2 (L+, L-) Torque [lb in/ N m]
M6 M6 M10 --- --- ---
35.4/4.0 35.4/4.0 97.3/11.0 --- --- ---
TE3 (L11, L21) Torque [lb in/ N m]
M4 M4 M4 --- --- M3.5
10.6/1.2 10.6/1.2 10.6/1.2 --- --- 10.6/1.2
TE1 (L1, L2, L3, ) Torque [lb in/ N m]
M5 M8 M10 --- --- M4
17.7/2.0 53.1/6.0 97.3/11.0 --- --- 17.7/2.0
CNP1 (L1,L2,L3,N,P1,P2) and CNP3 (U,V,W)) Torque [lb in/ N m]
--- --- --- --- --- ---
--- --- --- 5.3/0.6 --- ---
Unit Type
MDS-D(*)/DH(*)-SP(#)- 20 to 640 ---
MDS-D-SPJ3(#)- 55(##) to 110(##) 075(##) to 37(##)
MDS-DJ-SP- 100,120,160 20,40,80
MDS-DJ-SP2- --- 2020
Wire Size (AWG)/Temp Rating Note 1 #14/75C #14/60 or 75C
Crimping Terminals Type R2-4 ---
Crimping Tools Type YHT-2210 ---
Unit Type MDS-D(*)-SP(#)- 20, 40 80 --- 160 200
MDS-DH(*)-SP(#)- 20, 40 80 100 --- 160
Wire Size (AWG)/Temp Rating Note 1, 2, 3 #14/75C #12/75C #10/75C #6/75C #4/75C
Crimping Terminals Type --- --- R5.5-5 R8-5 R14-5
Crimping Tools Type --- --- YHT-2210 YPT-60-21 YPT-60-21
Unit Type MDS-D(*)-SP(#)- --- 240 320 400, 640
MDS-DH(*)-SP(#)- 200 320 --- 480
Wire Size (AWG)/Temp Rating Note 1, 2, 3 #4/75C #2/75C #1/0/75C #3/0/75C
Crimping Terminals Type R22-8 38-S8 60-S8 80-10
Crimping Tools Type YPT-60-21 YPT-60-21 YPT-60-21 YPT-150-1
Unit Type
MDS-D-SPJ3(#)- 075(##) to 37(##) 55(##) 75(##) 110(##)
MDS-DJ-SP- 20,40,80 100 120 160
MDS-DJ-SP2- 2020 --- --- ---
Wire Size (AWG)/Temp Rating Note 1, 2, 3 #14/60 or 75C #12/75C #10/75C #8/75C
Crimping Terminals Type --- R5.5-5 R5.5-5 R8-5
Crimping Tools Type --- YHT-2210 YHT-2210 YPT-60-21
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 4-2 Notes for AC Servo/Spindle System
Appendix 4 - 7
(3) Servo Drive Unit (MDS-D, D2/DH, DH2/DM, DM2-V1/V2/V3/D-SVJ3/DJ)
TE2 (L+, L-)
Wire size depends on the Power Supply Unit (MDS-D, D2/DH, DH2-CV Series).
TE3 or CNP2 (L11, L21)
TE1 (U, V, W, )
CNP1 (L1, L2, L3), CNP3 (U, V, W) and
(Note 1) 75 C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).
Use copper wire only.
Above listed wire are for use in the electric cabinet on machine or equipment.
(Note (#)) :may be followed by S
(Note (##)) :may be followed by N or NA
(Note (*)) :may be followed by 2
(Note 2) The servo motor cable can be selected in accordance with the stall current.
The spindle motor cable can be selected in accordance with the continuous rated current.
(Note 3) Select the motor so that the current value of motor become below in the current value of drive.
Unit Type
MDS-D(*)-V1(#)- 160W, 320 320W --- ---
MDS-DH(*)-V1(#)- 160, 160W 200 --- ---
MDS-D-SVJ3(#)- --- --- 10 to 35(##) 10(##), 20(##)
MDS-DJ-V1- --- --- --- 10, 15, 30, 40, 80,
100
MDS-DJ-V2- --- --- --- 3030
Terminal Screw Size
TE2 (L+, L-) Torque [lb in/ N m]
M6 M6 --- ---
35.4/4.0 35.4/4.0 --- ---
TE3 (L11, L21) Torque [lb in/ N m]
M4 M4 --- ---
10.6/1.2 10.6/1.2 --- ---
TE1 (L1, L2, L3, ) Torque [lb in/ N m]
M5 M8 --- ---
17.7/2.0 53.1/6.0 --- ---
CNP1 (L1,L2,L3,N,P1,P2) and CNP3 (U,V,W)) Torque [lb in/ N m]
--- --- --- ---
--- --- 5.3/0.6 ---
Unit Type
MDS-D/DH/DM-V1(#)/V2(#)/V3(#)- 10 to 320W ---
MDS-D-SVJ3(#)- --- 03(##) to 35(##)
MDS-DJ-V1- --- 10, 15, 30, 40, 80, 100
MDS-DJ-V2- --- 3030
Wire Size (AWG)/Temp Rating Note 1 #14/75C #14/75C
Crimping Terminals Type R2-4 ---
Crimping Tools Type YHT-2210 ---
Unit Type MDS-D(*)-V1(#)- 20 to 40 80 160
MDS-DH(*)-V1(#)- 10 to 40 80 80W
Wire Size (AWG)/Temp Rating Note 1, 2, 3 #14/75C #12/75C #10/75C
Unit Type MDS-D(*)-V1(#)- 160W 320 --- 320W
MDS-DH(*)-V1(#)- 160, 160W --- 200 ---
Wire Size (AWG)/Temp Rating Note 1, 2, 3 #8/75C #6/75C #4/75C #2/75C
Crimping Terminals Type R8-5 R14-5 R22-8 38-S8
Crimping Tools Type YPT-60-21 YPT-60-21 YPT-60-21 YPT-60-21
Unit Type
MDS-D-SVJ3(#)- 03(##) to 10(##) 20(##) 35(##)
MDS-DJ-V1- 10, 15, 30, 40 80 100
MDS-DJ-V2- 3030 ---
Wire Size (AWG)/Temp Rating Note 1, 2, 3 #14/75C #12/75C #10/75C
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
MITSUBISHI CNC
Appendix 4 - 8
(4) Option Unit : Dynamic Brake Unit (MDS-D-DBU)
TE1 (U, V, W, )
(Note 1) 75 C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).
Use copper wire only. Above listed wire are for use in the electric cabinet on machine or equipment.
(5) AC Reactor (D/DH-AL)
Input/Output (L11, L12, L13, L21, L22, L23)
The wire connected with AC Reactor becomes same size as TE1 of the selected Power supply unit.
(6) Multi Axis Unit (Multi-Hybrid drive unit) (MDS-DM, DM2-SPV)
TE1 (L1, L2, L3) and
TE1 (U, V, W) and
Type MDS-D-DBU
Terminal Screw Size
U, V, W, M4
Torque [lb in/ N m] 10.6/1.2
Unit Type MDS-D-DBU
Wire Size (AWG) /Temp Rating Note 1 #10/75C
Crimping Terminals Type R5.5-4 Crimping Tools Type YHT-2210
Type D-AL- 7.5K, 11K 18.5K to 45K 55K
DH-AL- 7.5K, 11K 18.5K to 75K ---
Terminal Screw Size
L11, L12, L13, L21, L22, L23 M5 M6 M10
Torque [lb in/ N m] 17.7/2.0 35.4/4.0 97.3/11.0
Unit Type MDS-DM(*)-SPV2(###) -10080 -16080 -20080 --- MDS-DM(*)-SPV3(###) -10080 -16080 -20080 -200120 MDS-DM2-SPHV3 --- --- -20080 ---
Terminal Screw Size
TE1 (L1,L2,L3,U,V,W) Torque [lb in/ N m]
M5 M5 M5 M5 17.7 / 2.0 17.7 / 2.0 17.7 / 2.0 17.7 / 2.0
CN31L/M/S (U,V,W) Torque [lb in/ N m]
--- --- --- --- --- --- --- ---
PE ( ) Torque [lb in/ N m]
M5 M5 M5 M5 17.7 / 2.0 17.7 / 2.0 17.7 / 2.0 17.7 / 2.0
Unit Type
MDS-DM(*)-SPV2(###) -10080 -16080 -20080 ---
MDS-DM(*)-SPV3(###) -10080 -16080 -20080 -200120
MDS-DM2-SPHV3 --- --- -20080 ---
Wire Size (AWG) /Temp Rating Note 1 #4/75C #4/75C #4/75C #4/75C
Crimping Terminals Type R22-S5 R22-S5 R22-S5 R22-S5
Crimping Tools Type YPT-60-21 YPT-60-21 YPT-60-21 YPT-60-21
Unit Type
MDS-DM(*)-SPV2(###) -10080 -16080 --- -20080
MDS-DM(*)-SPV3(###) -10080 -16080 --- -20080
-200120
MDS-DM2-SPHV3 --- --- -20080 ---
Wire Size (AWG) /Temp Rating Note 1, 2, 3 #10/75C #8/75C #6/75C #4/75C
Crimping Terminals Type Note 2 R5.5-5 R8-5 R14-5 R22-5
Crimping Tools Type YHT-2210 YPT-60-21 YPT-60-21 YPT-60-21
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 4-2 Notes for AC Servo/Spindle System
Appendix 4 - 9
CN31L/M/S (U,V,W) and
(Note (###)) :may be followed by F or S
(Note (*)) :may be followed by 2
(Note 1) 75 C: Grade heat-resistant polyvinyl chloride insulated wires (HIV).
Use copper wire only.
Above listed wire are for use in the electric cabinet on machine or equipment.
(Note 2) The servo motor cable can be selected in accordance with the stall current.
The spindle motor cable can be selected in accordance with the continuous rated current.
(Note 3) Select the motor so that the current value of motor become below in the current value of drive.
(7) Power Backup Unit (MDS-D/DH-PFU)
TE1 (L1, L2,L3)
TE2 (L+, L-)
TE3 (OUT-L11, OUT-L21)
TE4 (C+,C-)
Unit Type
MDS-DM(*)-SPV2(###) -10080 -16080 -20080 ---
MDS-DM(*)-SPV3(###) -10080 -16080 -20080 -200120
MDS-DM2-SPHV3 --- --- -20080 ---
Wire Size (AWG) /Temp Rating Note 1, 2, 3 #12/75C #12/75C #12/75C #10/75C
Unit Type MDS-DH-PFU / MDS-D-PFU
Terminal Screw Size
TE1 (L1,L2,L3) Torque [lb in/ N m]
---
---
TE2 (L+, L-)) Torque [lb in/ N m]
M6
35.4/4.0
TE3 (OUT-L11,OUT-L21)) Torque [lb in/ N m]
M4
10.6/1.2
TE4 (C+,C-)) Torque [lb in/ N m]
M6
35.4/4.0
TE5 (R1,R2)) Torque [lb in/ N m]
M6
35.4/4.0
PE( ) Torque [lb in/ N m]
M4
10.6/1.2
Unit Type MDS-DH-PFU / MDS-D-PFU
Wire Size (AWG) /Temp Rating Note 1 #14/75C
Crimping Terminals Type --- Crimping Tools Type ---
Unit Type MDS-DH-PFU / MDS-D-PFU
Wire Size (AWG) /Temp Rating Note 1 #10/75C
Crimping Terminals Type R5.5-6 Crimping Tools Type YHT-2210
Unit Type MDS-DH-PFU / MDS-D-PFU
Wire Size (AWG) /Temp Rating Note 1 #14/75C
Crimping Terminals Type R2-4 Crimping Tools Type YHT-2210
Unit Type MDS-DH-PFU / MDS-D-PFU
Wire Size (AWG) /Temp Rating Note 1 #10/75C
Crimping Terminals Type R5.5-6 Crimping Tools Type YHT-2210
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
MITSUBISHI CNC
Appendix 4 - 10
TE5 (R1,R2)
PE ( )
Option Unit : R-Unit (R-UNIT-6 / R-UNIT-7)
TE1 (R1,R2)
PE ( )
Option Unit : Capacitor Unit (MDS-D-CU / MDS-DH-CU)
TE1 (C+, C-)
TE2 (C+, C-)
Unit Type MDS-DH-PFU / MDS-D-PFU
Wire Size (AWG) /Temp Rating Note 1 #10/75C
Crimping Terminals Type R5.5-6 Crimping Tools Type YHT-2210
Unit Type MDS-DH-PFU / MDS-D-PFU
Wire Size (AWG) /Temp Rating Note 1 #14/75C
Crimping Terminals Type R2-4 Crimping Tools Type YHT-2210
Unit Type R-UNIT-6 / R-UNIT-7
Terminal Screw Size
TE1 (R1, R2) Torque [lb in/ N m]
M4
10.6/1.2
PE( ) Torque [lb in/ N m]
M4
10.6/1.2
Unit Type R-UNIT-6 / R-UNIT-7
Wire Size (AWG) /Temp Rating Note 1 #10/75C
Crimping Terminals Type R5.5-4 Crimping Tools Type YHT-2210
Unit Type R-UNIT-6 / R-UNIT-7
Wire Size (AWG) /Temp Rating Note 1 #10/75C
Crimping Terminals Type R5.5-4 Crimping Tools Type YHT-2210
Unit Type MDS-D-CU / MDS-DH-CU
Terminal Screw Size
TE1 (C+, C-) Torque [lb in/ N m]
M10
97.3/11.0
TE2 (C+, C-) Torque [lb in/ N m]
M6
35.4/4.0
PE( ) Torque [lb in/ N m]
M10
97.3/11.0
Unit Type MDS-D-CU / MDS-DH-CU
Wire Size (AWG) /Temp Rating Note 1 #10/75C
Crimping Terminals Type R5.5-10 Crimping Tools Type YHT-2210
Unit Type MDS-D-CU / MDS-DH-CU
Wire Size (AWG) /Temp Rating Note 1 #10/75C or more
Crimping Terminals Type R5.5-6 Crimping Tools Type YHT-2210
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 4-2 Notes for AC Servo/Spindle System
Appendix 4 - 11
PE ( )
(8) Notes of Round Crimping Terminals and Terminal Block
The non-insulation ring tongue must have the insulated sleeving described below to prevent electric shock.
The crimp terminal must be provided with SUMITOMO ELECTRIC FINE POLYMER INC. (File No.: E48762,
Catalogue No.: SUMITUBE F(Z) or 939) per the illustration below.
Appendix 4-2-7 Motor Over Load Protection
Spindle drive unit MDS-D, D2/DH, DH2-SP/SP2, MDS-D-SPJ3/MDS-DJ, Servo drive unit MDS-D, D2/DH, DH2/DM,
DM2-V1/V2/V3/, MDS-D-SVJ3/MDS-DJ and Multi Axis unit (Multi-Hybrid drive unit) MDS-DM, DM2-SPV Series have
each solid-state motor over load protection. (The motor full load current is the same as rated current.)
When adjusting the level of motor over load, set the parameter as follows.
(1) MDS-D, D2/DH, DH2-SP/SP2, MDS-D-SPJ3/MDS-DJ (Spindle drive unit),
MDS-DM, DM2-SPV (Multi Axis unit (Multi-Hybrid drive unit))
(2) MDS-D, D2/DH, DH2/DM, DM2-V1/V2/V3, MDS-D-SVJ3, MDS-DJ (Servo drive unit),
MDS-DM, DM2-SPV (Multi Axis unit (Multi-Hybrid drive unit))
Unit Type MDS-D-CU / MDS-DH-CU
Wire Size (AWG) /Temp Rating Note 1 #10/75C
Crimping Terminals Type R5.5-10 Crimping Tools Type YHT-2210
Parameter No.
Parameter abbr.
Parameter Name
Setting Procedure Standard
Setting Value Setting Range
SP021 OLT* Overload
time constant Set the time constant for overload detection. (Unit: 1 second.)
60s 0 to 15300s
SP022 OLL Overload
detection level Set the overload current detection level with a percentage (%) of the rating.
120% 1 to 200%
Parameter No.
Parameter abbr.
Parameter Name
Setting Procedure Standard
Setting Value Setting Range
SV021 OLT Overload
time constant Set the time constant for overload detection. (Unit: 1 second.)
60s 1 to 999s
SV022 OLL Overload
detection level Set the overload current detection level with a percentage (%) of the stall rating.
150% 110 to 500%
Insulated sleeve
Non-insulated terminalInsulation distance
Non-insulated terminal
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
MITSUBISHI CNC
Appendix 4 - 12
Appendix 4-2-8 Flange of Servo Motor
Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation
effect:
Appendix 4-2-9 Spindle Drive/Motor Combinations
Following combinations are the Standard combinations.
Flange size (mm)
Servo Motor HF, HF-H, HP, HP-H, HF-KP, HF-MP, HF-SP
1501506 50 to 100W 2502506 200 to 400W
25025012 0.5 to 1.5kW 30030020 2.0 to 7.0kW 80080035 9.0 to 11.0kW
Drive Unit Rating Output (kW) of Applicable Spindle Motor
SJ, SJ-V/VL Series Note 1
MDS-D(*)-SP(#)-20 0.75 MDS-D(*)-SP(#)-40 0.75, 1.5, 2.2 MDS-D(*)-SP(#)-80 2.2, 3.7, 7.5
MDS-D(*)-SP(#)-160 7.5, 11 MDS-D(*)-SP(#)-200 11, 15, 18.5 MDS-D(*)-SP(#)-240 18.5, 22 MDS-D(*)-SP(#)-320 22, 26, 30 MDS-D(*)-SP(#)-400 30, 37, 45 MDS-D(*)-SP(#)-640 37, 45, 55
MDS-D(*)-SP2(#)-2020 0.75, 1.5 / 0.75, 1.5 MDS-D(*)-SP2(#)-8040 2.2, 3.7, 7.5 / 0.75, 1.5, 2.2 MDS-D(*)-SP2(#)-8080 2.2, 3.7, 7.5 / 2.2, 3.7, 7.5
MDS-D(*)-SP2(#)-16080 7.5, 11 / 2.2, 3.7, 7.5
Drive Unit Rating Output (kW) of Applicable Spindle Motor
SJ-4, SJ-4-V/VL Series Note 1
MDS-DH(*)-SP(#)-20 0.75, 1.5, 2.2, 3.7 MDS-DH(*)-SP(#)-40 2.2, 3.7, 5.5, 7.5 MDS-DH(*)-SP(#)-80 2.2, 3.7, 7.5, 11
MDS-DH(*)-SP(#)-100 7.5, 11, 15, 18.5 MDS-DH(*)-SP(#)-160 18.5, 22, 26, 30 MDS-DH(*)-SP(#)-200 26, 30, 37, 45 MDS-DH(*)-SP(#)-320 30, 37, 45, 55 MDS-DH(*)-SP(#)-480 45, 55, 60
MDS-DH(*)-SP2(#)-2020 0.75, 1.5, 2.2, 3.7 / 0.75, 1.5, 2.2, 3.7 MDS-DH(*)-SP2(#)-4040 2.2, 3.7, 5.5, 7.5 / 2.2, 3.7, 5.5, 7.5 MDS-DH(*)-SP2(#)-8040 2.2, 3.7, 7.5, 11 / 2.2, 3.7, 5.5, 7.5
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 4-2 Notes for AC Servo/Spindle System
Appendix 4 - 13
(Note1) Applicable unit depends on the range of power constant of motor.Inquire of Mitsubishi about the detail
of the combinations.
(Note (#)) :may be followed by S
(Note (##)) :may be followed by N or NA
(Note (###)) :may be followed by F or S
(Note (*)) :may be followed by 2
Drive Unit Spindle Motor
SJ-V SJ-VL SJ-D SJ-DJ HF-KP MDS-D-SPJ3(#)-075(##)
MDS-DJ-SP-20 - SJ-VL0.75 - - 46, 56, 96
MDS-D-SPJ3(#)-22(##) MDS-DJ-SP-40
SJ-V2.2 SJ-VL1.5, SJ-VL2.2
- - -
MDS-D-SPJ3(#)-37(##) MDS-DJ-SP-80
SJ-V3.7 SJ-VL2.2 3.7 - -
MDS-D-SPJ3(#)-55(##) MDS-DJ-SP-100
SJ-V5.5 - 5.5 5.5 -
MDS-D-SPJ3(#)-75(##) MDS-DJ-SP-120
SJ-V7.5 - 7.5 7.5 -
MDS-D-SPJ3(#)-110(##) MDS-DJ-SP-160
SJ-V7.5, SJ-V11
SJ-VL11 11 11 -
MDS-DJ-SP2-2020 - SJ-VL0.75 - - 46, 56, 96
Drive Unit Rating Output (kW) of Applicable Spindle Motor
SJ-V Series Note 1 SJ-VL Series Note 1 SJ-DJ Series Note 1 SJ-DL Series Note 1
MDS-DM(*)-SPV2(###)-10080 5.5, 7.5 - - -
MDS-DM(*)-SPV3(###)-10080 MDS-DM(*)-SPV2(###)-16080
7.5, 11 11 - - MDS-DM(*)-SPV3(###)-16080 MDS-DM(*)-SPV2(###)-20080
11, 15 -
- - MDS-DM(*)-SPV3(###)-20080 - -
MDS-DM2-SPHV3-20080 15 3.7 MDS-DM(*)-SPV3(###)-200120 - -
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
MITSUBISHI CNC
Appendix 4 - 14
Appendix 4-2-10 Servo Drive/Motor Combinations
Following combinations are the Standard combinations.
(Note (#)) :may be followed by S
(Note (##)) :may be followed by N or NA
(Note (###)) :may be followed by F or S
(Note (*)) :may be followed by 2
Drive Unit Servo Motor
HF-KP HF-SP HF-MP HF MDS-D-SVJ3(#)-03(##)
MDS-DJ-V1-10 053, 13, 23 - 053, 13, 23 -
MDS-D-SVJ3(#)-04(##) MDS-DJ-V1-15
43 - 43 -
MDS-D-SVJ3(#)-07(##) MDS-DJ-V1-30
73 51, 52 73 54,75,105
MDS-D-SVJ3(#)-10(##) MDS-DJ-V1-40
- 81, 102 - 104,123,142,223,
302 MDS-D-SVJ3(#)-20(##)
MDS-DJ-V1-80 - 121, 152, 201, 202 - 154, 204,224,303
MDS-D-SVJ3(#)-35(##) MDS-DJ-V1-100
- 352 - 354
MDS-DJ-V2-3030 13, 23, 43, 73 - - 54, 75, 105 MDS-DM(*)-SPV2(###)-10080
- - - 54, 104, 154, 204, 224, 223, 303, 302
MDS-DM(*)-SPV2(###)-16080 MDS-DM(*)-SPV2(###)-20080 MDS-DM(*)-SPV3(###)-10080 MDS-DM(*)-SPV3(###)-16080 MDS-DM(*)-SPV3(###)-20080
MDS-DM2-SPHV3-20080
MDS-DM(*)-SPV3(###)-200120 - - - 154, 204, 224, 354,
303, 453
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 4-3 AC Servo/Spindle System Connection
Appendix 4 - 15
Appendix 4-3 AC Servo/Spindle System Connection Appendix 4-3-1 MDS-D, D2/DH, DH2/DM, DM2-Vx/SP Series
CN1B CN1A
CN4 CN9
CN3L CN2L
CN3M
CN23A
CN2M
CN1B CN1A
CN4 CN9
L+/L- L11/L21
CN4
CB
MU/MV/MW
L1/L2/L3 U/V/W LU/LV/LW
CN9
MC
CB
CN3L CN2L
CN3M CN2M
CN3SCN2S
SU/SV/SW
CN23B
MDS-D,D2/DH.DH2/ DM.DM2-V1/V2/V3 MDS-D,D2/DH,DH2-SP
MDS-D,D2/ DH,DH2-CV
(CN24) (CN23)
(MCCB)
Series Series Series
Refer to specification manual
Battery Unit
Note: It recommends installing.
Contactor Fuse
or Circuit Protector
Servo Motor Spindle Motor
Encoder FAN
Servo Motor
AC Reactor
Encoder and Thermal Protection
From NC
External Emergency Stop
Regarding the connection of NC, see the CNC manual book.
Enclosure Side
Machine Side
Servo Motor
Encoder Encoder
D/DH/DM : IB-1500875 or IB-1500891 D2/DH2/DM2 : IB-1501124 or IB-1501136 3 phase
DH,DH2 Series: 380 to 480VAC D,D2/DM,DM2 Series: 200 to 230VAC
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
MITSUBISHI CNC
Appendix 4 - 16
Appendix 4-3-2 MDS-D/DH-CV, D/D2-Vx/SPx, DH/DH2-Vx/SPx, DM/DM2-V3 Series
with MDS-D/DH-PFU
Appendix 4-3-3 MDS-D2/DH2-CV, D/D2-Vx/SPx, DH/DH2-Vx/SPx, DM/DM2-V3 Series
with MDS-D/DH-PFU
CN1B CN1A
CN4 CN9
CN3L CN2L
CN3M
CN23A
CN2M
CN1B CN1A
CN4CN9
L+/L-
L11/L21
CN4
MU/MV/MW L1/L2/L3 U/V/W LU/LV/LW
CN9
MC
CN3L CN2L
CN3M CN2M
CN23B
CN3SCN2S
SU/SV/SW
TE2
TE3
TE2
TE3
TE2
TE3 TE3
TE2
TE1
TE5 CN43
TE4
L1/L2/L3
CB
MDS-D,D2/DH,DH2-SP MDS-D/DH-CV
CB
MDS-D/DH-PFU
(CN24) (CN23)
From NC
External Emergency Stop
Regarding the connection of NC, see the NC manual book.
Machine Side Servo Motor Spindle Motor
Encoder FAN Servo Motor
Encoder
Battery Unit
Contactor
AC Reactor
Encoder and Thermal Protection
Encoder
Servo Motor
MDS-D,D2/DH,DH2/DM.DM2 -V1/V2/V3 Series Series Series
Fuse or Circuit Protector (MCCB)
3 phase DH,DH2 Series: 380 to 480VAC D,D2/DM,DM2 Series: 200 to 230VACEnclosure Side
Refer to specification manual D/DH/DM : IB-1500875 or IB-1500891 D2/DH2/DM2 : IB-1501124 or IB-1501136
Series
Option R-UNIT-6 or
R-UNIT-7
TE3
TE2
TE5 CN43
TE4
L1/L2/L3
CN41 CN42
MC CB
TE1
TE2
CN1B CN1A
CN4 CN9
CN3L CN2L
CN3M CN2M
CN1B CN1A
CN4 CN9
L+/L-
L11/L21
CN4
MU/MV/MW L1/L2/L3 U/V/W LU/LV/LW
CN9 CN3L CN2L
CN3M CN2M
CN3S CN2S
SU/SV/SW
TE2
TE3
TE2
TE3
TE2
TE3
CN41
CN23
CN24
MDS-D,D2/DH,DH2-SP MDS-D2/DH2-CV MDS-D/DH-PFU
From NC
External Emergency Stop
Regarding the connection of NC, see the NC manual book.
Enclosure Side
Machine Side Servo Motor Spindle Motor
Encoder FAN Servo Motor
Encoder
Battery Unit
CB
Contactor
AC Reactor
Encoder and Thermal Protection
Encoder
TE1
Servo Motor
Fuse or Circuit Protector (MCCB)
3 phase DH,DH2 Series: 380 to 480VAC D,D2/DM,DM2 Series: 200 to 230VAC
Refer to specification manual D/DH/DM : IB-1500875 or IB-1500891 D2/DH2/DM2 : IB-1501124 or IB-1501136
MDS-D,D2/DH,DH2/DM.DM2 -V1/V2/V3 Series Series Series Series
Option R-UNIT-6 or
R-UNIT-7
Option MDS-D-CU or MDS-DH-CU
MDS-D-SVJ3/SPJ3 Series Specifications Manual
Appendix 4-3 AC Servo/Spindle System Connection
Appendix 4 - 17
Appendix 4-3-4 MDS-D-SVJ3/SPJ3/MDS-DJ Series
CN1B
CN1A
CN2
CNP2
CN9CNP1
CNP3
MC
CB
CN3
CN8
MDS-D-SVJ3/MDS-DJ-V1 MDS-D-SPJ3/MDS-DJ-SP
From NC
External Emergency Stop
Enclosure Side
Machine Side Servo/Spindle Motor
Encoder
Contactor
Note: It recommends installing.
Input
Resistor
3 phases 200 to 230Vac
CN8 (Only SVJ3S, SPJ3S,MDS-DJ)
Fuse or
Circuit Protector
Regarding the connection of NC, see the CNC manual book.
Refer to specification manual MDS-D-SVJ3/SPJ3 : IB-1500158 MDS-DJ : IB-1501130
Series Series
Relay
MDS-DJ-V2 MDS-DJ-SP2
CN1B
CN1A
CN2 CNP3L
2M
CNP2
CNP1 CN9
CN8 CN8
MC
CB
L
External Emergency Stop
Regarding the connection of NC, see the NC manual book.
Enclosure Side
Machine Side Servo / Spindle Motor
Encoder
Contactor Fuse or Circuit Protector
3 phases 200 to 230Vac
Note : It recommends installing.
Relay
Input
CN
CNP3M
Servo / Spindle Motor
Encoder
Series Series
Refer to specification manual MDS-DJ : IB-1501130
Appendix 4 Instruction Manual for Compliance with UL/c-UL Standard
MITSUBISHI CNC
Appendix 4 - 18
Appendix 4-3-5 MDS-DM, DM2-SPV Series
MC
CB
CN22
CN9B CN9A
CN2L
OPT1
CN2SP
CN31M CN31L
CN3SP
L1/L2/L3
CN2M
CN2S
CN3L
CN3M
CN3S
U/V/W CN31S
MDS-DM,DM2-SPV Series
Encoder FAN Encoder Encoder
From NC
External Emergency Stop
Regarding the connection of NC, see the NC manual book.
Refer to specification manual
Enclosure Side
Machine Side Servo Motor Spindle Motor Servo Motor
Fuse or Circuit Protector
3 phase 200 to 230VAC Input
AC Reactor
Contactor
Servo Motor
Note : It recommends installing.
Relay
24V stabilized Power supply
Encoder and Thermal Protection
IB-1500891, IB-1501136
Revision History
Date of revision Manual No. Revision details
Jun. 2006 IB(NA)1500158-A First edition created. Jan. 2011 IB(NA)1500158-B - "Outline for MDS-D-SVJ3/SPJ3 Series Instruction Manual (IB-1500193-C)"
was added.
- The following servo motors were added.
HF224, HF123, HF223, HF303, HF142, HF302, HF-KP13, HF-KP23, HF-
KP43, HF-KP73
- SJ-D Series and SJ-DJ Series were added.
- Specifications list of servo motor and spindle motor were revised.
- List of servo drive unit and spindle drive unit were revised.
- Descriptions for tool spindle motor was added.
- "Unit outline dimension drawing" was added.
- "Function specifications" (function specifications list and explanation of each
function) were added.
- "Machine accuracy" and "Flange of servo motor" were added.
- "Sony Manufacturing Systems Corporation" was changed to "Magnescale
Co., Ltd".
- The following spindle options were added.
TS5690, MU1606 Series, ERM280, MPCI Series
- The following encoder interface units were added.
IBV Series, EIB192M, EIB392M, ADB-20J Series
- Optical communication repeater unit (FCU7-EX022) was added.
- List of regenerative option was revised.
- Input and output circuit diagram were added to "Relay".
- "Selection of the servo motor" and "Selection of the regenerative resistor"
were revised.
- DI/O or maintenance connector was added.
- "Cable and connector assembly" was deleted.
- "Restrictions for Lithium Batteries" was revised.
- "Compliance to EC Directives" was revised.
- "EMC Installation Guidelines" was revised.
- "EC Declaration of conformity" was revised.
- "Instruction Manual for Compliance with UL/c-UL Standard" was revised.
- "Grobal Service Network" was revised.
- The outline dimension drawings were deleted form this manual.
For the outline dimension drawings, refer to "DRIVE SYSTEM DATA BOOK
(IB-1500273(ENG))".
- Miswrite is corrected.
Date of revision Manual No. Revision details
Jan. 2011 IB(NA)1500158-C - Descriptions related to the unit type followed by "NA" were added. (SVJ3- 10NA/20NA, SPJ3-22NA: The connector for CNP1,2 and 3 was changed.) - "Precautions for safety" was revised. - "System configuration" was revised. - "Servo motor type" was revised. - Notes were added to "Spindle motor type". - "Tool spindle motor type" was revised. - "Explanation of each part" was revised. - Function specifications list was revised. - "High frequency current control" was deleted. - Overload protection characteristics for HF105 was revised. - A caution was added to "Shaft characteristics" in "Spindle motor". - "Servo options" and "Battery option" were revised. - "MDS-BTBOX-36" was added. - "Spindle options" was revised. - "Spindle side ABZ pulse output encoder (OSE-1024-3-15-68, OSE-1024-3- 15-68-8)" was replaced by "Spindle side ABZ pulse output encoder (OSE-1024 Series)". - "(MITSU02-4)" was added to EIB192M and EIB392M. - "Optical communication repeater unit (FCU7- EX022)" was revised. - "Cable connection diagram" was revised. - "List of cable and connectors" and "Relay" were revised. - "Selection of circuit protector and contactor" was revised. - "Cable and Connector Specifications" was revised. - "EC Declaration of Conformity" was revised. - "Instruction Manual for Compliance with UL/c- UL Standard" was revised - "Global service network" was revised. - Miswrite is corrected.
Apr. 2017 IB(NA)1500158-D - The words "encoder" were replaced by "encoder". - "Introduction" was revised. - "Explanation of type" was revised. - Specifications lists of servo motor, spindle motor, and tool spindle motor were revised. - "Output characteristics" of spindle motor and tool spindle motor were revised. - "Drive unit" was revised. - Function specifications list was revised. - "Full closed loop control", "Speed command synchronous control", "High- speed synchronous tapping control (OMR-DD control)" and "Motor temperature display function" were revised. - "Shaft characteristics", "Oil / water standards", "Installation of servo motor" and "Dynamic brake characteristics" in "Servo motor" were revised. - "Machine accuracy" and "Installation of spindle motor" in "Spindle motor" were added. - "Environmental conditions" in "Drive unit" was revised. - Manufacturer names and the contact information were updated. - "Battery option", "Ball screw side encoder" and "Machine side encoder" were revised. - "Spindle options" was revised. - "Spindle side ABZ pulse output encoder (OSE-1024 Series)" was revised. - "Machine side encoder" in "Spindle options" was added. - Example of wiring was added in "Serial output interface unit for ABZ analog encoder MDS-B-HR". - "Optical communication repeater unit (FCU7-EX022)" was revised. - "List of cables and connectors" was revised. - "Example of wires by unit" and "Selection of contactor" were revised. - "Surge absorber" was revised. - "Selection of the servo motor" was revised.
Date of revision Manual No. Revision details
Apr. 2017 IB(NA)1500158-D - "Cable and Connector Specifications" was revised. - "Restrictions for Lithium Batteries" was revised. - "Compliance to EC Directives", "EMC Installation Guidelines" and "Compliance with Restrictions in China" were deleted. - "EC Declaration of Conformity" was revised. - "Instruction Manual for Compliance with UL/c-UL Standard" was revised. - "Global Service Network" was revised. - Miswrite is corrected.
Global Service Network
AMERICA EUROPE
MITSUBISHI ELECTRIC AUTOMATION INC. (AMERICA FA CENTER) MITSUBISHI ELECTRIC EUROPE B.V. Central Region Service Center (Chicago) European Service Headquarter (Dusseldorf, GERMANY) 500 CORPORATE WOODS PARKWAY, VERNON HILLS, ILLINOIS 60061, U.S.A. Mitsubishi-Electric-Platz 1 40882 RATINGEN, GERMANY TEL: +1-847-478-2500 / FAX: +1-847-478-2650 TEL: +49-2102-486-1850 / FAX: +49-2102-486-5910 Minneapolis, MN Service Satellite Detroit, MI Service Satellite South Germany Service Center (Stuttgart) Grand Rapids, MI Service Satellite KURZE STRASSE. 40, 70794 FILDERSTADT-BONLANDEN, GERMANY Lima, OH Service Satellite TEL: + 49-711-770598-123 / FAX: +49-711-770598-141 Cleveland, OH Service Satellite Indianapolis, IN Service Satellite France Service Center (Paris) St. Louis, MO Service Satellite 25, BOULEVARD DES BOUVETS, 92741 NANTERRE CEDEX FRANCE
TEL: +33-1-41-02-83-13 / FAX: +33-1-49-01-07-25 South/East Region Service Center (Georgia) 1845 SATTELITE BOULEVARD STE. 450, DULUTH, GEORGIA 30097, U.S.A. France Service Satellite (Lyon) TEL +1-678-258-4529 / FAX +1-678-258-4519 120, ALLEE JACQUES MONOD 69800 SAINT PRIEST FRANCE Charleston, SC Service Satellite TEL: +33-1-41-02-83-13 / FAX: +33-1-49-01-07-25 Charlotte, NC Service Satellite Raleigh, NC Service Satellite Italy Service Center (Milan) Dallas, TX Service Satellite VIALE COLLEONI, 7 - CENTRO DIREZIONALE COLLEONI PALAZZO SIRIO INGRESSO 1, Houston, TX Service Satellite 20864 AGRATE BRIANZA (MB), ITALY Hartford, CT Service Satellite TEL: +39-039-6053-342 / FAX: +39-039-6053-206 Knoxville, TN Service Satellite Nashville, TN Service Satellite Italy Service Satellite (Padova) Baltimore, MD Service Satellite VIA G. SAVELLI, 24 - 35129 PADOVA, ITALY Pittsburg, PA Service Satellite TEL: +39-039-6053-342 / FAX: +39-039-6053-206 Allentown, PA Service Satellite Syracuse, NY Service Satellite U.K. Service Center Tampa, FL Service Satellite TRAVELLERS LANE, HATFIELD, HERTFORDSHIRE, AL10 8XB, U.K. Lafayette, LA Service Satellite TEL: +49-2102-486-1850 / FAX: +49-2102-486-5910
Western Region Service Center (California) Spain Service Center 5900-B KATELLA AVE. - 5900-A KATELLA AVE. CYPRESS, CALIFORNIA 90630, U.S.A. CTRA. DE RUBI, 76-80-APDO. 420, 08173 SAINT CUGAT DEL VALLES, BARCELONA SPAIN TEL: +1-714-699-2625 / FAX: +1-847-478-2650 TEL: +34-935-65-2236 / FAX: +34-935-89-1579 San Francisco, CA Service Satellite Seattle, WA Service Satellite Poland Service Center
UL.KRAKOWSKA 50, 32-083 BALICE, POLAND Canada Region Service Center (Tronto) TEL: +48-12-347-6500 / FAX: +48-12-630-4701 4299 14TH AVENUE MARKHAM, ONTARIO L3R OJ2, CANADA TEL: +1-905-754-3805 / FAX: +1-905-475-7935 Hungary Service Center Edmonton, AB Service Satellite MADARASZ VIKTOR 47-49 , BUDAPEST XIII; HUNGARY Montreal, QC Service Satellite TEL: +48-12-347-6500 / FAX: +48-12-630-4701
Mexico Region Service Center (Queretaro) MITSUBISHI ELECTRIC TURKEY A. Parque Tecnolgico Innovacin Quertaro, Lateral Carretera Estatal 431, Km 2+200, Lote 91 Modulos 1 y 2 Turkey Service Center Hacienda la Machorra, CP 76246, El Marqus, Quertaro, Mxico SERIFALI MAHALLESI NUTUK SOKAK. NO.5 34775 TEL: +52-442-153 4250 UMRANIYE, ISTANBUL, TURKEY Monterrey, NL Service Satellite TEL: +90-216-526-3990 / FAX: +90-216-526-3995 Mexico City, DF Service Satellite
Czech Republic Service Center AutoCont Control Systems s.r.o (Service Partner) KAFKOVA 1853/3, 702 00 OSTRAVA 2, CZECH REPUBLIC
BRAZIL TEL: +420-59-5691-185 / FAX: +420-59-5691-199
Mitsubishi Electric do Brasil Comrcio e Servios Ltda. Russia Service Center Votorantim Office NC-TECH (Service Partner) AV. GISELE CONSTANTINO,1578 PARQUE BELA VISTA, VOTORANTIM-SP, BRAZIL CEP:18.110-650 213, B.NOVODMITROVSKAYA STR., 14/2, 127015 MOSCOW, RUSSIA TEL: +55-15-3023-9000 TEL: +7-495-748-0191 / FAX: +7-495-748-0192 JOVIMAQ Joinville, SC Service Satellite MAQSERVICE Canoas, RS Service Satellite Sweden Service Center
HAMMARBACKEN 14, P.O.BOX 750 SE-19127, SOLLENTUNA, SWEDEN TEL: +46-8-6251000 / FAX: +46-8-966877
Bulgaria Service Center AKHNATON Ltd. (Service Partner) 4 ANDREJ LJAPCHEV BLVD. POB 21, BG-1756 SOFIA, BULGARIA TEL: +359-2-8176009 / FAX: +359-2-9744061
Ukraine Service Center (Kharkov) CSC Automation Ltd. (Service Partner) APTEKARSKIY PEREULOK 9-A, OFFICE 3, 61001 KHARKOV, UKRAINE TEL: +380-57-732-7774 / FAX: +380-57-731-8721
Belarus Service Center TECHNIKON Ltd. (Service Partner) NEZAVISIMOSTI PR.177, 220125 MINSK, BELARUS TEL: +375-17-393-1177 / FAX: +375-17-393-0081
South Africa Service Center MOTIONTRONIX (Service Partner) P.O. BOX 9234, EDLEEN, KEMPTON PARK GAUTENG, 1625, SOUTH AFRICA TEL: +27-11-394-8512 / FAX: +27-11-394-8513
ASEAN CHINA
MITSUBISHI ELECTRIC ASIA PTE. LTD. (ASEAN FA CENTER) MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. (CHINA FA CENTER) Singapore Service Center China Shanghai Service Center 307 ALEXANDRA ROAD #05-01/02 MITSUBISHI ELECTRIC BUILDING SINGAPORE 159943 1-3,5-10,18-23/F, NO.1386 HONG QIAO ROAD, CHANG NING QU, TEL: +65-6473-2308 / FAX: +65-6476-7439 SHANGHAI 200336, CHINA
TEL: +86-21-2322-3030 / FAX: +86-21-2322-3000*8422 Philippines Service Center China Ningbo Service Partner Flexible (Service Partner) China Wuxi Service Partner UNIT NO.411, ALABAMG CORPORATE CENTER KM 25. WEST SERVICE ROAD China Jinan Service Partner SOUTH SUPERHIGHWAY, ALABAMG MUNTINLUPA METRO MANILA, PHILIPPINES 1771 China Hangzhou Service Partner TEL: +63-2-807-2416 / FAX: +63-2-807-2417
China Beijing Service Center 9/F, OFFICE TOWER 1, HENDERSON CENTER, 18 JIANGUOMENNEI DAJIE,
VIETNAM DONGCHENG DISTRICT, BEIJING 100005, CHINA TEL: +86-10-6518-8830 / FAX: +86-10-6518-8030
MITSUBISHI ELECTRIC VIETNAM CO.,LTD China Beijing Service Partner Vietnam Ho Chi Minh Service Center UNIT 01-04, 10TH FLOOR, VINCOM CENTER 72 LE THANH TON STREET, DISTRICT 1, China Tianjin Service Center HO CHI MINH CITY, VIETNAM UNIT 2003, TIANJIN CITY TOWER, NO 35 YOUYI ROAD, HEXI DISTRICT, TEL: +84-8-3910 5945 / FAX: +84-8-3910 5946 TIANJIN 300061, CHINA
TEL: +86-22-2813-1015 / FAX: +86-22-2813-1017 Vietnam Hanoi Service Center 6TH FLOOR, DETECH TOWER, 8 TON THAT THUYET STREET, MY DINH 2 WARD, China Chengdu Service Center NAM TU LIEM DISTRICT, HA NOI CITY, VIETNAM 1501-1503,15F,GUANG-HUA CENTRE BUILDING-C,NO.98 NORTH GUANG HUA 3th RD, TEL: +84-4-3937-8075 / FAX: +84-4-3937-8076 CHENGDU,610000,CHINA
TEL: +86-28-8446-8030 / FAX: +86-28-8446-8630
INDONESIA China Shenzhen Service Center ROOM 2512-2516, 25/F., GREAT CHINA INTERNATIONAL EXCHANGE SQUARE, JINTIAN RD.S.,
PT. MITSUBISHI ELECTRIC INDONESIA FUTIAN DISTRICT, SHENZHEN 518034, CHINA Indonesia Service Center(Cikarang) TEL: +86-755-2399-8272 / FAX: +86-755-8229-3686 JL. KENARI RAYA BLOK G2-07A, DELTA SILICON 5, LIPPO CIKARANG - BEKASI 17550, INDONESIA China Xiamen Service Partner TEL: +62-21-2961-7797 / FAX: +62-21-2961-7794 China DongGuang Service Partner
China Dalian Service Center MALAYSIA DONGBEI 3-5, DALIAN ECONOMIC & TECHNICAL DEVELOPMENTZONE, LIAONING PROVINCE,
116600, CHINA MITSUBISHI ELECTRIC SALES MALAYSIA SDN. BHD. TEL: +86-411-8765-5951 / FAX: +86-411-8765-5952 Malaysia Service Center (Kuala Lumpur Service Center) LOT 11, JALAN 219, P.O BOX 1036, 46860 PETALING JAYA, SELANGOR DARUL EHSAN. MALAYSIA TEL: +60-3-7960-2628 / FAX: +60-3-7960-2629 KOREA Johor Bahru Service satellite
MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD. (KOREA FA CENTER) Korea Service Center
THAILAND 8F GANGSEO HANGANG XI-TOWER A, 401 YANGCHEON-RO, GANGSEO-GU, SEOUL 07528 KOREA
MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO.,LTD TEL: +82-2-3660-9609 / FAX: +82-2-3664-8668 Thailand Service Center Korea Daegu Service Satellite 12TH FLOOR, SV.CITY BUILDING, OFFICE TOWER 1, NO. 896/19 AND 20 RAMA 3 ROAD, KWAENG BANGPONGPANG, KHET YANNAWA, BANGKOK 10120,THAILAND TEL: +66-2-682-6522 / FAX: +66-2-682-6020 TAIWAN
MITSUBISHI ELECTRIC TAIWAN CO., LTD. (TAIWAN FA CENTER) INDIA Taiwan Taichung Service Center
NO.8-1, INDUSTRIAL 16TH RD., TAICHUNG INDUSTRIAL PARK, SITUN DIST., MITSUBISHI ELECTRIC INDIA PVT., LTD. TAICHUNG CITY 40768, TAIWAN CNC Technical Center (Bangalore) TEL: +886-4-2359-0688 / FAX: +886-4-2359-0689 PLOT NO. 56, 4TH MAIN ROAD, PEENYA PHASE 3, PEENYA INDUSTRIAL AREA, BANGALORE 560058, KARNATAKA, INDIA Taiwan Taipei Service Center TEL : +91-80-4655-2121 FAX : +91-80-4655-2147 10F, NO.88, SEC.6, CHUNG-SHAN N. RD., SHI LIN DIST., TAIPEI CITY 11155, TAIWAN Chennai Service Satellite TEL: +886-2-2833-5430 / FAX: +886-2-2833-5433 Coimbatore Service Satellite Hyderabad Service Satellite Taiwan Tainan Service Center
11F-1., NO.30, ZHONGZHENG S. ROAD, YONGKANG DISTRICT, TAINAN CITY 71067, TAIWAN North India Service Center (Gurgaon) TEL: +886-6-252-5030 / FAX: +886-6-252-5031 2ND FLOOR, TOWER A&B, DLF CYBER GREENS, DLF CYBER CITY, DLF PHASE-III, GURGAON- 122 002, HARYANA, INDIA TEL : +91-124-4630 300 FAX : +91-124-4630 399 OCEANIA Ludhiana Satellite Panth Nagar Service Satellite MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD. Delhi Service Satellite Oceania Service Center Jamshedpur Service Satellite 348 VICTORIA ROAD, RYDALMERE, N.S.W. 2116 AUSTRALIA
TEL: +61-2-9684-7269/ FAX: +61-2-9684-7245 West India Service Center (Pune) EMERALD HOUSE, EL-3, J BLOCK, M.I.D.C., BHOSARI, PUNE - 411026, MAHARASHTRA, INDIA TEL : +91-20-2710 2000 FAX : +91-20-2710 2100 Kolhapur Service Satellite Aurangabad Service Satellite Mumbai Service Satellite
West India Service Center (Ahmedabad) UNIT NO: B/4, 3RD FLOOR, SAFAL PROFITAIRE, PRAHALADNAGAR CORPORATE ROAD, PRAHALADNAGAR SATELLITE, AHMEDABAD 380015, GUJRAT, INDIA TEL : +91-265-2314699 Rajkot Service Satellite
Notice
Every effort has been made to keep up with software and hardware revisions in the contents described in this manual. However, please understand that in some unavoidable cases simultaneous revision is not possible. Please contact your Mitsubishi Electri
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