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MDS-EM Series Specifications Manual

1. ra i S e RA circuit for motor brake Note Prepared by user CN9A 24V stabilized power supply y Note Prepared by user Encoder conversion unit CN22 H MDS B HR H a Servo encoder cable Battery box lt MDS B HR unit cable gt m Built in cell battery I 2 et 8 f H 5 5 95 H 2 i 81 el batery butin iS 2 8 iive unit i E 33 MDS BAT6V1SET 4 2 I 23 s 9 g oc mo 235 a g Linear scale cable for M S axis jes z Note Prepared by user aa z G ay o 3 Q 3 2 Servo encoder cable O a a 2 2 lt Linear scale cable gt Lt 5 Note Prepared by user gt Lele 7 8 L o l 3 2 5 Servo encoder cable a 8 EH 27 L1 2g i 25 J 2 Spindle side 5 lt Linear scale cable for MDS B HR gt Linear scale 3 2 rA S encoder 25 Note Prepared by user for full closed loop control 55 5 e 3 Note Prepared by user 3 33 ay 23 85 Power cable To servo for To ser
2. Mass kg 15 Heat radiated at rated output W 690 730 800 990 1260 Noise Less than 55dB Unit outline dimension drawing FO For outline dimension drawings refer to DRIVE SYSTEM DATA BOOK IB 1501252 ENG 2 3 3 Unit Outline Dimension Drawing Unit mm 80 Panel cut drawin 60 140 _ 60 6 E g 2 6 hole ls a 140 exhaust pi es Terminal cover am 8 HH HHH HHHH P Square 3 hole free j 6 6 p s 260 J m e 78 100 248 Cover opening 4 M5 screw hole allowance inlet IB 1501238 A 26 MDS EM Series Specifications Manual 2 Specifications 2 3 4 AC Reactor AC reactor AC reactor model D AL 18 5K Rated capacity kW 18 5 Rated voltage V 200 to 240AC Tolerable fluctuation between 10 and 15 Rated current A 66 Frequency Hz 50 60 Tolerable fluctuation between 3 and 3 Ambient temperature Operation 10 C to 60 C with no freezing Storage Transportation 10 C to 60 C with no freezing Ambient humidity Operation 80 RH or less with no dew condensation Storage Transportation 80 RH or less with dew condensation Environme Indoors no direct sunlig
3. e M IA CN9A connector C gt spindle side D A output CN9B connector Sel e l servo side D A output Pin Name Pin Name g 1 LG 11 LG e S Pin Name Pin Name 1 LG 11 LG 2 12 3 13 5 m 2 12 E4 3 13 4 14 4 14 B ds 5 15 6 16 6 16 7 17 oS 7 17 5 18 8 18 9 MO1 19 MO2 9 MO1 19 MO2 10 20 10 20 V A V _ e f MDS EM SPV Series Item Explanation No of channels 2ch Output cycle 0 8ms min value Output precision 12bit Output voltage range OV to 2 5V zero to 5V Output magnification setting 32768 to 32767 1 100 fold Output pin servo side CN9B connector Pin 9 MO2 Pin 19 LG Pin 1 11 Output pin spindle side CN9A connector Pin 9 MO2 Pin 19 LG Pin 1 11 Others The D A output for the 2nd axis or the 3rd axis is also 2ch When using the 2nd axis or the 3rd axis set 1 for the output data SV061 SV062 of the servo axis that is not to be measured 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 Example of D A output waveform 51 IB 1501238 A MDS EM Series Specifications Manual 3 Function Specifications 3 6 2 Machine Resonance Frequency Display Function If resonance is generated and it cause
4. MBE 405w B 0 1 2 Pe 0mm 2 93mm 15 125 e e2006mm 160 950m 2 Specifications ncoder type Encoder resolution 4 000 000p rev Detection method Incremental Electrical Accuracy 1 2 4 seconds 3 seconds t2 seconds characteristics Wave number within one rotation 512 waves 768 waves 1024 waves Encoder output data Serial data Power consumption 0 2A or less Mechanical Inertia 0 5x10 9kg m 2 4 10 kg m 8 7 107 m characteristics for rotation Tolerable continuous rotation speed 15000r min 10000r min 8000r min Drum inner diameter 82mm 125mm 160 Drum outer diameter 100mm 150 3 200 6 configuration Drum mass 0 2kg 0 46kg 1 0kg Degree of protection 3 IP67 Ambient temperature range 0 to 55 C Storage temperature range 20 C to 85 C Humidity 95 RH Working environment Vibration resistance Horizontal direction to the axis 5G or less Vertical direction to the axis 5G or less Impact resistance 490m s 50G 1 The values above are typical values after the calibration with our shipping test device and are not guaranteed 2 The user is requested to install the magnetic drum and installation ring in the encoder within the accuracy range specified herein Even when the accuracy of the encoder when shipped and when installed by
5. 121 6 7 Selection of Fink Bar er iret cci Se EXE DUE 123 6 7 1 Wire Size for L11 and L21 Link Bar 123 6 7 2 Wire Size for L and L Link eene nnne nnne rennen 123 7 Selector 125 7 1 Selection of the Servo 126 rime ES 126 7 1 2 Selection of Servo Motor nennen eene nnne nen 127 7 1 3 Motor Shaft Conversion Load Torque sssssssssssssssesseseeeen nnne eene nnne nnns nen 134 7 1 4 Expressions for Load Inertia Calculation sse eene nnne 135 7 2 Selection of the Spindle nnn tennis nnne 136 7 3 Selection of the Additional Axis Drive Unit ssssssssssssseeseseenneneeeneen nennen 137 7 3 1 Calculation of Spindle 137 7 3 2 Calculation of Servo Motor Output 139 7 3 3 Selection of the Additional Axis Drive 140 7 3 4 Required Capacity of Power
6. nnns 57 4 1 7 Overload Protection Characteristics 2 2 2 57 4 1 9 orae te hber uitia eiii tite RR Re TERES 59 4 1 9 Dynamic Brake Characteristics 62 4 2 Spindle MOTO ero ex nere ema m po ens d sapete 64 4 2 1 Environmental Conditions entente set 64 4 2 2 Shaft Characteristics n ener sen nennen nenne rennen 64 4 2 3 Machine ACCUraey s tester et tv oe der ate e ene Ea or era e bci tad 65 4 2 4 Installation of Spindle Motor nnne nnns 65 4 9 Drive dt dae te tredecim ren dte rae th 66 4 3 1 Environmental Conditions ssesssssssssesseeeeeeene tnr nsn senes 66 4 3 2 Heating Value accetto e ene tune tute tee estat ete e een ee EM es 66 5 nico cea cetacean eee d IEEE LC c IL DEOS I 67 5 1 Servo Options iva oo ic Que es m EE reote use cv eh ote ve eee Od aerea ae 68 5 1 1 Battery Option MR BAT6V1SET MDSBTBOX LR2060 70 5 1 2 Ball Screw Side Encoder OSA105ET2A
7. a Power connector Ej Servomotor 103 From NC 0 z E 8 H H 8 E 1 drive unit BS 1 83 25 9 25 ES aad Es Em I I D e o2 B E 8 e pue J 29 3 8 ge a NI 53 lo l El r4 N H 2 Spindle side o5 2 N encoder 55 5 f N 8 og 23 22 2 8 Power cable To servo for To servo for M PE Only connector Maxis S axis 5 is supplied ae Oj Cell battery built in RA circuit for motor brake Note Prepared by user Y Spindle motor IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 5 4 2 List of Cables and Connectors lt Optical communication cable gt Item Model Contents Drive unit side connector Drive unit side connector ae Honda Tsushin Kogyo Honda Tsushin Kogyo Opticalcommunicationcabe 4 EM Connector LGP Z0007PK Connector LGP Z0007PK For wiring between drive units inside O Length panel 0 3 0 5 1 2 3 5m Drive unit side connector Drive unit side connector For Optical communication cable J395 LOM Honda Tsushin Kogyo Honda Tsushin Kogyo CN1A For wiring be
8. 164 Appendix 2 151 Target PrOduets tetti baa erit ete Den ler n 164 Appendix 2 1 2 Handling by User ete eerie 165 Appendix 271 3 Reference vetet eie iot t ern D tie EE beo etaed eet bt ue 165 Appendix 2 2 Products Information Data Sheet ER Battery 166 Appendix 2 3 Forbiddance of Transporting Lithium Battery by Passenger Aircraft Provided in the Code of Federal Regulation eesssssssssssseseseeeeee eene nennen nennen nens 168 Appendix 2 4 California Code of Regulation Best Management Practices for Perchlorate Materials 168 Appendix 2 5 Restriction Related to EU Battery Directive 169 Appendix 2 5 1 Important Notes icti Ge e bete te bed Dexter en 169 Appendix 2 5 2 Information for End user sssssssssssssssssseseeneeeeenn 169 Appendix EC Declaration of 171 Appendix 3 1 EC Declaration of Conformity ssssssssssssssssseseeee nennen entere nnns 172 Outline for MDS EM Series Instruction Manual IB 1501241 A 1 Installation 1 1 Installation of Servo Motor 1 1 1 Environmental Conditions 1 1 2 Quakeproof Level 1 1 3 Cautions for Mounting Load Prevention of Impact on Shaft 1
9. ener nnne 25 2 3 2 Multi Axis Integrated Drive Unit cece eee eeeeee eee enne me enne nnn nnns 26 2 3 3 Unit Outline Dimension Drawing cccccsceeeeeeeeeeeeeeeeeeeeaeeeeeeeeecaaeeeeeaaeeseaeeeesaaeeseceeesaaeseaeeees 26 VEO VON TETO mE 27 2 3 5 Explanation of Each Part ecelesia lo eet teet ee e e Ee 28 3 Function Specifications se 29 3 1 Function Specifications List ssessssssssssssssssseenenee nennen nenne tnn senten nnns senten enne sinn ns 30 3 1 Base Control FU nctions oco teet ee aae tee pt E Ear eddie 33 3 1 1 Full Closed Loop 33 3 1 2 Position Command Synchronous Control ssssssssssseseeee enne 34 3 1 3 Speed Command Synchronous Control essen 34 3 1 4 Distance coded Reference Position 35 3 1 5 Spindle s Continuous Position LOOP Control sess 35 3 1 6 Coil Changeover Gonttol ici bert ore oed id eei Pi rt tte par eee ta rid tg fdv etude 35 3 1 7 Gear Changeover Control 35 3 1 8 Orientation Control P re RE et d aad ai eed gets 35 2 1 9 Indexing Control Ludo eite tur Tres Ae a e lanl
10. e 06 3 Compensation control 3 1 Jitter compensation 2 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 3 3 Adaptive tracking type notch filter function 3 4 Overshooting compensation 3 6 Lost motion compensation type 2 3 9 Spindle motor temperature compensation function 4 1 Deceleration control at emergency stop 4 3 Earth fault detection 4 5 515 Safely Limited Speed function function 2 z 4 6 Fan stop detection 4 9 STO Safe Torque Off function e 5 5 4 Specified speed output 5 5 Quick READY ON sequence e 6 1 Monitor output function 6 2 Machine resonance frequency display 6 function Diagnosis 6 3 Machine inertia display function e e e e functions 6 4 Motor temperature display function 6 5 Load monitor output function 6 6 Open loop control function Note 1 As for 2 axis spindle drive unit setting is available only for one of t
11. 74 5 1 3 Machine Side EnCOGGr rs miroir breed e Foot case reed ie Ped dese EL REPE eade 76 5 1 4 Twin head Magnetic Encoder MBA 5 nennen 81 5 2 Spinde eter e He e er Ld ea es ee te utu 85 5 2 1 Spindle Side ABZ Pulse Output Encoder OSE 1024 86 5 2 2 Spindle Side PLG Serial Output Encoder T85690 MU1606 Series 88 5 2 3 Twin head Magnetic Encoder MBE Series sssssssssssssseeeeeen enne 92 5 2 4 Spindle Side Accuracy Serial Output Encoder ERM280 MPCI Series Other Manufacturer s Product ssssssssssssssssseseeee eene en nennen nennen nnn nnne 96 5 2 5 Machine Side idera t o ee P pesi ute ces ned edo eaa 96 5 3 Encoder Interface nit 1 mcn de aie iets dace aede dono dine due dL aae dt Veni Uu 97 5 3 1 Serial Output Interface Unit for ABZ Analog Encoder 05 97 5 3 2 Serial Output Interface Unit for ABZ Analog Encoder EIB192M Other Manufacturer s Product ccccccseeeceeeeeeeeeeeeeeeeeeceaeeeseneeecaaeeeseaeesecaeessaaeeseeeeessaeeseneees 100 5 3 3 Serial Output Interface Unit for ABZ Analog Encoder EIB392M Other Manufacturer s Product ssessssssssssssssseseee nennen nennen nre nen nennt senes 101 5 3 4 Serial O
12. Servo motor n Deceleration ratio When rising T Ty TF When lowering Tyn7 T T Load torque N m Servo motor Ty Unbalanced torque N m Tg Friction torque on moving section Nem Wi W2 g W1 W2 g AS 5 3 I N x 4ln 1 2x10 rn 2x10 rn u W1it W2 g AS Vertical Irse gt movement Counter 2x 10 ny weight W Load mass kg Load M W Counterweight mass kg 1 Drive system efficiency g Gravitational acceleration 9 8 m s V Speed of object that moves linearly mm min N Motor speed r min AS Object movement amount per motor rotation mm u Friction coefficient IB 1501238 A 134 MDS EM Series Specifications Manual 7 Selection 7 1 4 Expressions for Load Inertia Calculation The calculation method for a representative load inertia is shown ype lechanism alculation expression Rotary shaft is cylinder center JL mee D1 D2 1 00102 D1 02 inertia kg cm p Density of cylinder material kg cm dio L Length of cylinder cm D Outer diameter of cylinder cm Da Inner diameter of cylinder cm W Mass of cylinder kg Cylinder Reference data Material densities Rotary shaft When rotary shaft and cylinder shaft are deviated Iron 7 80x103 kg cm3 Aluminum 2 70x10 3 kg cm
13. 141 7 3 5 Example for Additional Axis Drive Unit and Power Supply Facility Capacity 142 Appendix 1 Cable and Connector 143 Appendix 1 1 Selection of 144 Appendix 1 1 1 Cable Wire and Assembly ssssssssssssseseseeeee enne nnne nens 144 Appendix 1 2 Cable Connection 146 Appendix 1 2 1 Battery Cable e eti eee diee ed ee d o e Ee HE de 146 Appendix 1 2 2 Servo Encoder 147 Appendix 1 2 3 Spindle Encoder Cable mrss aaan nennen tenete nennen 150 Appendix 1 2 4 Twin head Magnetic Encoder Cable sss 152 Appendix 1 3 Main Circuit Cable Connection Diagram sse 153 Appendix 1 4 Connector Outline Dimension Drawings seems 154 Appendix 1 4 1 Connector for Drive Unit sess nnne 154 Appendix 1 4 2 Connector for Servo sssssssssssssssssssseseseene een entree rnnt 158 Appendix 1 4 3 Connector for Spindle ssssssseeeeeeeeeeen nnne nnne 160 Appendix 2 Restrictions for Lithium 163 Appendix 2 1 Restriction for
14. 1 0 180 SR67A 0 5um 125m min Magnescale Co Ltd SR74 Not required SR84 0 1um 25m min 0 05um 12m min IBV 101 10 divisions 0 5um 120m min HEIDENHAIN CORPORATION d IBV 102 100divisions 0 05um 24m min IBV 660B 400divisions 0 0125um 7 5m min Contact information about machine side encoder gt Magnescale Co Ltd http www mgscale com mgs language english HEIDENHAIN CORPORATION http www heidenhain com IB 1501238 A 78 MDS EM Series Specifications Manual 5 Dedicated Options 2 Absolute position encoder The applicable absolute position encoders are as follows Minimum detection Tolerable maximum Manufacturer Encoder type Interface unit type reselution speed Mitsubishi Electric 0 00009 Corporation MBA405W Series Provided 4 000 000p rev 3000r min SR67A 0 1um SR77 Not required 0 05um 200m min SR87 0 01um Magnescale zooor RU77 Not required eee 00000107 2 000r min 33 554 432p rev LC193M A 0 05um LC493M Not required 0 01um 180m min LC195M 0 01um LC495M Not required 0 001um 180m min HEIDENHAIN LC291M Not required 0 01um 180m min CORPORATION 0 0000429 RCN223M Not required 8 388 608p rev 1 500r min 0 0000027 RCN227M Not required 134 217 728p rev 1 500r min RCN727M 0 0000027 RCN827M Notrequired 134 217 728p rev
15. AD ery box with BTI k Connect the bat 71 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 2 Battery box MDSBTBOX LR2060 a Specifications SS a aaa Battery option type MDSBTBOX LR2060 Battery model name size D alkaline batteries LR20 x 4 pieces Note 1 6 0V Unit output BTO1 2 3 Nominal voltage 3 6V Unit output BT 3 6V 1 5V Isolated battery Number of connectable axes Up to 8 axes Battery continuous backup time Approx 10000 hours when 8 axes are connected cumulative time in non energized state Note 2 Back up time from battery warning to alarm occurrence Note 1 Install commercially available alkaline dry batteries into MDSBTBOX LR2060 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 Approx 336 hours when 8 axes are connected Note 2 b Explanation of connectors BTO1 2 3 Name Description 1 Power supply output for absolute position encoder BT 6V output for absolute position encoder backup 2 backup LG Groun
16. HG54 15 12 E ze D Short time operation range 6 3 0 0 2000 4000 Rotation speed r min 902241 Short time operation range Torque N m operation range 0 2000 4000 Rotation speed r min 96123 RN Short time operation range 1000 30 20 a Torque N m 3 0 1000 21 Rotation speed r min 00 Note1 HG105 under development HG104 25 20 2 15 Short time operation range o 5 10 e 5 0 0 2000 4000 Rotation speed r min HG204 50 40 2 30 9 Short time operation range s 20 E 10 0 2000 4000 Rotation speed r min HG223 40 30 E 2 20 Short time operation range 5 E 10 Continuous operation range 0 1000 2000 3000 Rotation speed r min 200VAC or less the short time operation range is limited IB 1501238 A 10 Torque N m Torque N m Torque N m 20 80 BR o N Continuous operation range 0 HG154 Short time operation range 0 2000 4000 Rotation speed r min HG354 Short time operation range 0 2000 4000 Rotation speed r min HG303 Short time operation range operation range 0 1000 2000 3000 Rotation speed r min The above graphs show the data when applied the input voltage of 200VAC When the input vo
17. M500 cell for the outline dimension drawing for servo 2 Materials not falling under Class 9 Mitsubishi type Lithium metal Pum or Application Battery Outline dimension Battery type incorporated Type for arrangement content i Data backup class drawing batteries CR2032 for built in battery CR2032 0 067g For NC SRAM CR2450 for built in battery Chere 0 1730 SRAM Battery Refer to Battery Option in ER6 ER6V series For NC SRAM cell the specification manual for built in battery ER6 ER6V 0 659 servo encoder for drive unit you are using for the outline dimension A6BAT MR BAT ER17330V 0 480 For servo encoder drawing for servo Q6BAT Q6BAT 0 49g For NC SRAM MDS BAT6V1SET MR BAT6ViSET 2CR17335A 1 20 2 For servo encoder Battery Note Ifthe 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 IB 1501238 A 164 MDS EM Series Specifications Manual Appendix 2 Restrictions for Lithium Batteries 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
18. Note 1 Forthe spindle motor rated output use the maximum value of continuous rated output short time rated output x short time rated output coefficient a and ED rated output x ED rated output coefficient Note 2 Select the maximum value for the spindle motor with multiple ED rated output characteristics For the spindle short time rated output coefficient o use the value in the Table 1 1 and for the ED rated output coefficient use the value in the Table 1 2 Table1 1 List of short time rated output time and short time rated output coefficient Short limerated Short Ctimerated Short timerated output Short timerated output time output coefficient time output coefficient a 1 minute 0 2 5 minutes 0 7 2 minutes 0 4 6 to 7 minutes 0 8 3 minutes 0 5 8 to 9 minutes 0 9 4 minutes 0 6 10 minutes or more 1 0 Note 1 Select the set time for the short time rated output of your spindle motor from the list E g When the set time for the short time rated output is 1 12h it means 5 minutes Note 2 For the motor with coil changeover specification select the set time for the short time rated output of the high speed coil Table 1 2 List of ED rated output time and rated output coefficient rated output time rated M coefficient More than or equal to 1096 07 but less than 20 than or equal to 20 0 9 but less than 30 More than or e
19. signal signal signa output Incre ETT ERM280 Series SIN wave signal EIB series Mitsubishi serial _ HEIDENHAIN 9 HEIDENHAIN signa encoder SIN wave i signal Distance coded Various scale SIN wave signal MDS B HR 11 P Mitsubishi serial Required reference scale is 9 Mitsubishi Electric signal Note 1 also available Note 2 MBA405W Series Mitsubishi seria Provided Mitsubishi serial Not reduired Mitsubishi Electric signal signal 9 RU77 Mitsubishi seria Mitsubishi serial Not required Magnescale signal signal Mitsubishi RCN223M RCN227M Mitsubishi seria _ Mitsubishi serial Net required serial HEIDENHAIN signal signa 9 signal RCN727M RCN827M Mitsubishi seria Mitsubishi serial Notrequirad Abso output HEIDENHAIN signal signa q lute RA Series Mitsubishi serial Mitsubishi serial Not required position Renishaw signal signal encoder HAM Series Mitsubishi seria Mitsubishi serial Nokreatiired FAGOR signal signal q MPRZ Series ADB 20J71 Mitsubishi serial SIN Mitsubishi Heavy SIN wave signal Mitsubishi Heavy signa Not required Dn Industries Industries 9 MPI Series ADB 20J60 EP output Mitsubishi Heavy SIN wave signal Mitsubishi Heavy Mitsubishi een Required A signa Industries Industries Note 1 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 Note
20. N CAUTION Always apply the notched fitting section machining with the specified dimensions to the sensor installation surface lt TS5690N64xx MU1606N601 gt Round crimp contact for thermistor 0 5 4 For M4 screw Unit mm Output connector by Tyco Electronics 100 10 EX Sensor mounting face Note 4 a 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 HEH 7 29 16 5 2 5 8 5 F os Ground o dd Central line of Re of detection gear Note 4 Detection gear outer DIA 52 8 pee One notch For Z phase signal The number of teeth 64 For A B phase signals Note 1 Handle with care as this is a precision component Pay special attention not to apply excessive external force on the sensor s detection face Applying such force will cause a fault Note 2 In installing the sensor keep the protruding fitting of 724300 mm on the machine side and push the C part of the sensor mounting seat against the fitting Note 3 In installing
21. 16 V screw E Manufacturer DDK o LL 5 i eir HE 8 Inner diameter of cable clamp Movable range of one side Clamp Avail Total Outer a 5 Shel length dia screw D E F H Fitting screw Bushing Applicable I size length V cable A B C CE3057 10A 1 D240 18 23 8 30 1 10 3 41 3 159 14 1 31 7 32 1 20UNEF 2B CE3420 10 1 010 5 to 614 1 CE3057 12A 1 D240 20 23 8 35 10 3 41 3 19 16 0 37 3 4 15 5 18UNEF 2B CE3420 12 1 012 5 to 016 0 CE3057 20A 1 D240 32 27 8 51 6 11 9 43 31 7 23 8 51 6 6 3 13 18UNS 2B CE3420 20 1 22 0 to 623 8 159 IB 1501238 A MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications MDS B HR connector MDS B HR connector Unit mm M19x1 M16x0 75 Manufacturer Hirose Electric Type Plug RM15WTP 8S for CON1 2 RM15WTP 12P for CON3 Unit mm M16x0 75 Manufacturer Hirose Electric Type Clamp RM15WTP CP 10 Appendix 1 4 3 Connector for Spindle Motor encoder connector Motor side PLG TS5690 connector Unit mm Manufacturer Tyco Electronics Type Plug 172169 1 1B 1501238 A 160 MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications Spindle side encoder connector for OSE 1024 Spindle side encoder connector for O
22. This declaration is based on the conformity assessment of following Notified Body No Name and Address Identification Number 1 Rheinland LGA Products GmbH TillystraRe 2 90431 N rnberg 0197 Germany Authorized representative in Europe The person authorized to compile the Technical file or relevant Technical documentation Hartmut Puetz FA Product Marketing Director MITSUBISHI ELCTRIC EUROPE B V German Branch Gothaer Str 8 40800 Ratingen Germany Issue Date Date of Declaration 27 May 2015 Signed for and on behalf of Signature Yasushi Ikawa Senior Manager Drive System Dept MITSUBISHI ELECTRIC CORPORATION BCN B81019 013 Page 1 of 3 IB 1501238 A 172 Revision History Date of revision Manual No Revision details Jun 2015 IB NA 1501238 A First edition created Global Service Network AMERICA MITSUBISHI ELECTRIC AUTOMATION INC AMERICA FA CENTER Central Region Service Center 500 CORPORATE WOODS PARKWAY VERNON HILLS ILLINOIS 60061 U S A TEL 1 847 478 2500 FAX 1 847 478 2650 Michigan Service Satellite ALLEGAN MICHIGAN 49010 U S A TEL 1 847 478 2500 FAX 1 847 478 2650 Ohio Service Satellite LIMA OHIO 45801 U S A TEL 1 847 478 2500 FAX 1 847 478 2650 CINCINATTI OHIO 45201 U S A TEL 1 847 478 2500 FAX 1 847 478 2650 Minnesota Service Satellite ROGERS MINNESOTA 55374 U S A TEL 1 847
23. UU Note This cable must be prepared by the user Machine side rectangular wave communication encoder P5 5V Note Contact the encoder LG manufacture about whether to perform A the P5V wiring or not A B B Z Z SHD Contact the encoder manufacture for the details Serial communication encoder linear scale etc cable connection diagram Drive unit side connector 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 MOLEX Connector set 54599 1019 P5 5V LG zi 40 amp RQ RQ SD SD Case grounding V m Note This cable must be prepared by the user Machine side serial communication encoder 5 5 Note Contact the encoder LG manufacture about whether to perform the P5V wiring or not Contact the encoder manufacture for the details Note When using a linear scale manufactured by FAGOR ground the encoder side SEL signal to LG X POINT For compatible encoder refer to the section Servo Option in Specifications Manual IB 1501238 A MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications Appendix 1 2 3 Spindle Encoder Cable lt CNP2E 1 cable connection diagram gt Spindle drive unit side connector 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 MOLEX Connector set 54599 1019 P5 5V LG MT1 MT2 SD SD RQ RQ Case grounding
24. senten nnns ennt nnns inten nnns 50 3 5 5 Quick READY ON Sequence c cceesccececeeeeeeceeeceaeeeeeneeeceaaeeeaaeecaaeeseeaaeecaaessseneeseeaeesseaaeeeneees 50 3 6 Diagnosis FUNCTION eom 51 3 6 1 Monitor Output F nction eccentric ea gage viv eevee 51 3 6 2 Machine Resonance Frequency Display 52 3 6 3 Machine Inertia Display Function essen 52 3 6 4 Motor Temperature Display 52 3 6 5 Load Monitor Output Function s nennen sitne 52 3 6 6 Open Loop Control Function ssesssssssssssssessseseeene nennen nnns nennen 52 3 6 7 Power Supply Diagnosis Display Function ssssssssssesseeeeene enne 52 4 Characteristics nee aeu an de EES 53 CATETE ORONO EEEE AEA deem ar ced kr rie ee d 54 4 1 1 Environmental Conditions ete or p E enc ge ter Drev auta 54 4 1 2 Quakeptoof Level dritte eapite ae hee qx ues aee A Buon te DERE Ra SER AERE Pe Pax cene Eua inn 54 4 1 3 Shaft Characteristics egeo Ine eed red e e ete ds 55 4 1 4 Machine AGGUracy x ee obedece ba b ep etes 55 41 5 Oil W ter Standards ei cette Gd euet Eee tivo 56 4 1 6 Installation of Servo
25. When there is a potential risk of fatal or serious injuries if handling is mistaken N WARNING When a dangerous situation or fatal or serious injuries may occur if handling is mistaken N CAUTION When a dangerous situation may occur if handling is mistaken leading to medium or minor injuries or physical damage Note that some items described as A CAUTION may lead to major results depending on the situation In any case important information that must be observed is described The signs indicating prohibited and mandatory matters are explained below Q Indicates a prohibited matter For example Fire Prohibited is indicated as 62 C Indicates a mandatory matter For example grounding is indicated as The meaning of each pictorial sign is as follows A CAUTION CAUTION rotated object A CAUTION HOT A Danger Electric shock risk Danger explosive Prohibited Disassembly is prohibited KEEP FIRE AWAY General instruction o Earth ground After reading this specifications and instructions manual store it where the user can access it easily for reference The numeric control unit is configured of the control unit operation 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
26. 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 45 IB 1501238 A MDS EM Series Specifications Manual 3 Function Specifications 3 4 4 Collision Detection Function Collision detection function quickly detects a collision of the motor shaft and decelerates and stops the motor This suppresses the generation of an excessive torque in the machine tool and helps to prevent an abnormal state from occurring Impact at a collision will not be prevented by using this collision detection function so this function does not necessarily guarantee that the machine tool will not be damaged or that the machine accuracy will be maintained after a collision The same caution as during regular operation is required to prevent the machine from colliding Collision detection function outline SE A collision of machine is detected 3 4 5 SLS Safely Limited Speed Function This function is aimed at allowing a safety access to the machine s working part by opening the safety door etc without shutting the power for saving the setup time b A retracting torque is generated The collision of machine is reduced Both the NC control system and drive system servo and spindle drive units doubly o
27. 4 T For MDS E EM motor 1 Motor series 2 Short time rated output For normal specification 4 Special specification Symbol Motor series Symbol Short time rated output Symbol Special specifications V Medium inertia series 5 5 5 5 kW None None VL Low inertia series 7 5 7 5 kW 2 High speed 11 11 kW 15 15 kW L 3 Specification code 18 5 18 5 kW The SJ V VL Series is indicated with a specification code 01 to 99 Note This explains the model name system of a spindle motor and all combinations of motor types listed above do not exist 5 IB 1501238 A MDS EM Series Specifications Manual 1 Introduction 1 2 4 AC Reactor Type 777 ZS 2 Type D AL 18 5K E Nameplate e Bo o a IUE rx im 18 SA Top surface of AC reactor Type Capacity Compatible power supply unit D AL 18 5K 18 5kW MDS EM SPV3 Series 1B 1501238 A 2 Specifications IB 1501238 A MDS EM Series Specifications Manual 2 Specifications 2 1 Servo Motor 2 1 1 Specifications List lt HG Series gt HG Series Servo motor type ABS specifications HG D51 D48 HG75 HG105 HG54 HG104 HG154 HG224 HG204 Co
28. Applicable cable outline 4 0 to 6 0mm For motor Brake connector for Servo motor side brake connector DDK Plug CMV1 SP2S S Contact CMV1 22BSC S2 3a brake HG 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 Note 1 Hand crimping tools 357J 22112 IB 1501238 A 15 106 MDS EM Series Specifications Manual 5 Dedicated Options lt Power connector gt Item Model ontents Motor side power connector DDK CNP18 10S 14 Plug GENS pale 109D C BSS Applicable cable outline Clamp CE3057 10A 1 D240 10 5 to 14mm il Power connector for HG75 105 54 104 154 Motor side power connector DDK 224 123 223 142 Plug CE05 8A18 10SD C BAS CNP18 10L 14 Clamp CE3057 10A 1 D240 Applicable cable outline 10 5 to 14mm TS For t ur Motor side power connector DDK CNP22 22S 16 Plug CE0 Chee eL C BSS Applicable cable outline Clamp CE3057 12A 1 D240 012 5 to 16mm Power connector for HG204 354 303 453 302 Motor side power connector DDK Plug CE05 8A22 22SD C BAS CNP22 221 16 Clamp CE3057 12A 1 D240 Applicable cable outline 12 5 to 16mm il Drive unit side power connector J S T Connector O3JFAT SAFGDK P15 All axes O83UFAT SAXGDK P 15 L axis only All axes O83UFAT SAYGDK P15 M axis only CNU01SEF AWG14
29. 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 2045Q 204 50 250 SQ 250 SQ 25080 Total length excluding shaft mm 440 490 490 469 5 469 5 469 5 Flange fitting diameter mm 180 180 180 230 230 230 Shaft diameter mm 32 048 048 048 048 048 Mass kg 60 70 70 110 110 110 Heat resistant class 155 F 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 For outline dimension drawings refer to DRIVE SYSTEM DATA BOOK IB 1501252 ENG 17 IB 1501238 A MDS EM Series Specifications Manual 2 Specifications SJ V Series Wide range constant output gt Spindle motor type SJ V11 01T SJ V11 09T SJ V15 03T Compatible drive unit MDS EM SPV3 16080 16080 200xx type Continuous rating KW 3 7 5 5 7 5 3 5 5 7 5 9 Output Sport tin
30. 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 specification Varistor Rating voltage Surge current Energy Max limit F rating withstand level withstand level Power voltage Rene range A J value 10 V AC V DC V 1time 2 times 1000s 2ms W V pF ERZV10D820 82 20 741090 50 65 3500 2500 14 10 0 4 135 2000 ERZV10D121 120 CTNDi0Vi21K 108 to 132 75 100 3500 2500 20 14 5 0 4 200 1400 Note 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 Nippon Chemi Con Corporation http www chemi con co jp e index html 3 Outline dimension drawing ERZV10D820 ERZV10D121 PA 20 0 Insulation tube Unit mm xU POINT Normally use a product with 120V varistor voltage If there is no allowance for the brake operation time us
31. Servo motor Linear servo motor Spindle motor Direct drive motor In this section Precautions for safety the following items are generically called the unit Servo drive unit Spindle drive unit Power supply unit Scale interface unit Magnetic pole detection unit POINT Important matters that should be understood for operation of this machine are indicated as a POINT in this manual N WARNING 1 Electric shock prevention A A gt BPP 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 inspectio
32. 2 RQ 7 SD 3 8 P5 5V 4 BAT 9 5 LG GND 10 SHD 75 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 5 1 3 Machine Side Encoder 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 Manufacturer Encoder type Interface unit type Minimum gerection Tolerable maximum resolution speed SR67A 0 1um Magnescale Co Ltd SR75 Not required 0 05um 200m min SR85 0 01pm LS187 EIB192M A4 20um 0 0012 120m LS487 EIB392M 20um HEIDENHAIN EIB192M C4 1200 0 0000183 FRM280 1200 EB392MC41200 19 660 800p rev eooponmin EIB192M C6 2048 0 0000107 ERM280 2048 EIB392M C6 2048 33 554 432p rev 11718r min lt Contact information about machine side encoder gt Magnescale Co Ltd http www mgscale com mgs language english HEIDENHAIN CORPORATION http www heidenhain com CAUTION The above value does not guarantee the accuracy of the system IB 15
33. 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 Ludhiana satellite office Jamshedpur satellite office India Pune Service Center EMERALD HOUSE EL 3 J BLOCK MIDC BHOSARI PUNE 411 026 MAHARASHTRA INDIA TEL 91 20 2710 2000 FAX 91 20 2710 2100 Baroda satellite office Mumbai satellite office India Bangalore Service Center PRESTIGE EMERALD 6TH FLOOR MUNICIPAL NO 2 LAVELLE ROAD BANGALORE 560 043 KAMATAKA INDIA TEL 91 80 4020 1600 FAX 91 80 4020 1699 Chennai satellite office Coimbatore satellite office MITSUBISHI ELECTRIC AUSTRALIA LTD Australia Service Center 348 VICTORIA ROAD RYDALMERE N S W 2116 AUSTRALIA TEL 61 2 9684 7269 FAX 61 2 9684 7245 MITSUBISHI ELECTRIC AUTOMATION CHINA LTD CHINA FA CENTER China Shanghai Service Center 1 3 5 10 18 23 F NO 1386 HONG QIAO ROAD CHANG NING QU SHANGHAI 200336 CHINA TEL 86 21 2322 3030 FAX 86 21 2308 3000 China Ningbo Service Dealer China Wuxi Service Dealer China Jinan Service Dealer China Hangzhou Service Dealer China Wuhan Service Satellite China Beijing Service Center 9 F OFFICE TOWER 1 HENDERSON CENTER 18 JIANGUOMENNEI DONGCHENG DISTRICT BENING 100005 CHINA TEL 86 10 6518 8830 FAX 86 10 6518 8030 China Beijing Service Dealer China Tianjin Service Center UNIT 2003 TIANJIN CITY TOWER NO 35 YOUYI ROAD HEXI DISTRI
34. B phase signals 8 4 phase signal 1 12 1 14 Note 1 Handle with care as this is a precision component Pay special attention not to apply excessive external force on the sensor s detection face Applying such force will cause a fault Note 2 In installing the sensor keep the protruding fitting of 223 6 0 025 mm on the machine side and push the C part of the sensor mounting seat against the fitting Note 3 In installing the detection gear make sure that the D part side comes the opposite side of the sensor installation side sensor s lead wire side Note 4 The diviation of the center of the detection gear is 16 5 0 25mm from the sensor mounting face Note 5 A connector of the signal cable side one plug and nine pins is attached Senor Detection gear Lead wire length mm Parts name 0 800 TS5690N2510 400 10 1556904252 7956902530 1200 20 MU1606N805 0 TS5690N254 1600 30 TS5690N2560 2000 30 91 Sensor mounting face 223 6 0 025 Encoder mounting face of machine side Projection for connector lock 22 14 ch oona a ib Hacer AHF ooo 91817 T FG 56 5V Pin layout of Seen from Arrow A output connector IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 5 2 3 Twin head Magnetic Encoder MBE Series 1 Type description
35. Cautions 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 100VAC or 200VAC Magnetic brake 1 b Example of DC OFF PS 24VDC stabilized power supply ZD1 ZD2 Zener diode for power supply protection 1W 24V VAR1 VAR2 Surge absorber Magnetic brake circuits 61 IB 1501238 A MDS EM Series Specifications Manual 4 Characteristics 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 Deceleration torque 0 Ndp Motor speed Deceleration torque characteristics of a dynamic brake Max deceleration torque of a dynamic brake 7 Stall torque Tdp Ndp Motor type Drive unit type Nm N m r min HG54 SPV3 10040 xxx80 2 9 3 97 758 HG104 SPV3 10040 xxx80 5 9 1
36. Copper 8 96x10 3 kg cm3 5 OR J_ Load inertia kg cm W Mass of cylinder kg D Outer diameter of cylinder cm R Distance between rotary axis and cylinder axis cm m a p Column av b LES co Rotary shaft 2 2 T b A2 WC J Load inertia kg cm W Mass of cylinder kg a b R Left diagram cm Object that moves linearly 1 V2 AS 2 sew b WON 10 Gon inertia kg cm W Mass of object that moves linearly kg N Motor speed r min V Speed of object that moves linearly mm min AS Object movement amount per motor rotation mm Suspended object WCD J Load inertia kg cm W Object mass kg D Diameter of pulley cm Jp Inertia of pulley kgecm Converted load Jus Jut JovtJoztJa NY Joe Jo M3 J Load inertia kg cm Ja Jg Inertia of load A kg cm J41 to Ja Inertia kg cm N4 to Ng Each shaft s speed r min 135 IB 1501238 A MDS EM Series Specifications Manual 7 Selection 7 2 Selection of the Spindle Motor 1 Calculation of average output for spindle In the machine which carries out the spindle s 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 Pay from one cycle operation pattern
37. OSJFAT SAZGDK P15 S axis only For L axis only CN31L Power connector for CNU01SEL AWG14 M S MDS EM SPV3 Series M axis only CNU01SEM AWG14 S axis only Connection lever CNUO1SES AWG14 J FAT OT P J S T Drive unit side control power connector DDK RCN22 Housing DK 3200S 02R For Control power connector for Applicable cable outline Contact DK 3REC2LLP1 100 CN22 MDS EM SPV3 Series pp 1 25 to 2 2mm 107 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options lt Spindle encoder cable and connector gt Item Model ontents Spindle drive unit side connector Spindle motor side connector 3M Tyco Electronics Connector 172169 1 Receptacle 36210 0100PL SiC Saba i sane fida Contact 170363 1 AWG26 22 CNP2E 1 OM 170364 1 AWG22 18 Motor side PLG cable O Length r For CN2 Spindle side accuracy 2 3 4 5 B H encoder 55690 cable i 10 15 20 Compatible part Note 1 5 30m MOLEX Connector set 54599 1019 J S T Plug connector XV 10P 03 L R Cable kit XV PCK10 R Spindle drive unit side connector irptor side connector 3M i Connector MS3106A20 29S D190 R le 36210 0100PL ad Straight back shell 02 2085 5 CNP3EZ 2P L1 M Clamp CE3057 12A 3 O Length 2 3 4 ud 7 10 15 20 Compatible part Note
38. ZHONGZHENG S ROAD YONGKANG DISTRICT TAINAN CITY 71067 TAIWAN R O C TEL 886 6 252 5030 FAX 886 6 252 5031 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 Electric dealer with any questions or comments regarding the use of this product Duplication Prohibited This manual may not be reproduced in any form in part or in whole without written permission from Mitsubishi Electric Corporation 2015 Mitsubishi Electric Corporation ALL RIGHTS RESERVED MITSUBISHI CNC MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BLDG 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN MODEL EM Series RE 100 458 Manual No IB 1501238 IB NA 1501238 ENG A 1506 MEE ee Specifications subject change without notice
39. clamp etc Always separate the signals wires from the drive wire and power line Use wires and cables that have a wire diameter heat resistance and flexibility that conforms to the system 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 do 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 N CAUTION 4 PO p P gt D gt 5 gt gt gt 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 r
40. straight CE 20BA S angle Clamp CE3057 12A 3 P5 5V LG Spindle motor side connector DDK Connector MS3106A20 29S D190 Back shell CE02 20BS S straight CE 20BA S angle Clamp CE3057 12A 3 P5 5V LG 7 grounding lt For 15m to 30m gt 151 IB 1501238 A MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications Appendix 1 2 4 Twin head Magnetic Encoder Cable lt Twin head magnetic encoder MBA Series connection diagram gt Drive unit side connector 3M Encoder preamplifier side Receptacle 36210 0100PL connector Shell kit 36310 3200 008 Hirose Electric MOLEX Plug RM15WTPZK 12S Connector set 54599 1019 Cord clamp JR13WCCA 8 72 P5 45V 1 i l i T P5 5 LG 2 HH 40 LG 14 0 5mm 1 Bon 12 CNT Note BAT 9 2 BAT MT1 5 temm 6 MT1 MT2 ef 11 2 3B 7 mpm 3 SD SD Barry 114 SD RQ 3 0 2mm 7 RQ RQ EN 1 8 RQ Case Li grounding RE ep Se 15 SHD For 10m or less Drive unit side connector 3M Encoder preamplifier side Receptacle 36210 0100PL connector Shell kit 36310 3200 008 Hirose Electric MOLEX Plug RM15WTPZK 12S Connector set 54599 1019 Cord clamp JR13WCCA 8 72 NT Qo P5 5V FT 9 P5 5V LG ar r1 LG Note BAT oH i 2 BAT MM 5 1i oma 6 MTI 6 ii 7 11111
41. 1 25 30m MOLEX Connector set 54599 1019 J S T Plug connector XV 10P 03 L R For CN3 Spindle side encoder Cable kit XV PCK10 R i OSE 1024 cable Spindle drive unit side connector motor side connector 3M Connector MS3106A20 29S D190 B QE Filip Md dale Angle back shell CE 20BA S CNP3EZ 3P O M Clamp CE3057 12A 3 O Length i 2 3 4 5 gud 7 10 15 20 25 30 Compatible part Note 1 om MOLEX Connector set 54599 1019 J S T Plug connector XV 10P 03 L R Cable kit XV PCK10 R Spindle motor side connector Tyco Electronics A PEG Connector 172169 1 spindle Spindle side accuracy CNEPGS RAE mee et motor encoder TS5690 connector Spindle motor side connector DDK CNE20 298 10 Connector MS3106A20 29S D190 Applicable cable outline Straight back shell CE02 20BS S 6 8 to 10mm Clamp CE3057 12A 3 pum Spindle side encoder Spindle OSE 1024 cable Spindle motor side connector motor DDK Connector MS3106A20 29S D190 pec aI Angle back shell CE 20BA S de as Sourne Clamp CE3057 12A 3 N Note 1 The names of compatible parts be changed at the manufacturer s discretion Contact each manufacturer for more information IB 1501238 A 108 MDS EM Series Specifications Manual 5 Dedicated Options Item Model Contents For CN2 3 Note 1 Spindle encoder drive unit side connector CNU2S AWG18 Spindle drive unit side connector 3M Receptacle 3621
42. 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 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 EM SPV3 Series Emergency stop Mitsubishi NC itsubishi nm OPT1 Optical EMG communication G380 cable Contactor shutoff command External emergency stop input 24VDC 777 lt Stop switch 3 5 4 Specified
43. 120 01 8 0 6 0 Output kW gt o Output kW 2 0 0 0 1500 6000 Rotation speed r min 12000 Output kW SJ D5 5 120 01 30 minute rating i 137 Output kW 1500 6000 Rotation speed r min SJ D5 5 120 02 EM SPV3 200xx 10000 Standard output during 0 0 1700 2800 4500 Rotation speed r min 8000 SJ D11 100 01 0 0 1500 4500 Rotation speed r min SJ D Series Hollow shaft specifications gt SJ D5 5 120 02T S EM SP3 100xx Z 2 3 5 5 o o 0 2000 2800 8000 12000 Rotation speed r min Note of Short time rated output 1B 1501238 A SJ D5 5 120 02T S EM SPV3 16080 1 Standard output during 0 0 2000 2800 6000 8000 Rotation speed r min 20 acceleration deceleration 12000 10000 accel ration deceleration 1 12000 Output kW SJ D5 5 120 02 EM SPV3 10080 E oye ee ey ene ere Standard output during acceleration deceleration 5 M o 3 7 25 ED rati 0 2000 2800 8000 12000 Rotation speed r min SJ D7 5 100 01 8 0 6 0 Z 540 2 0 0 0 1500 Rotation speed r min 6000 10000 SJ D5 5 120 02T S EM SPV3 200xx I Standard output during acceleration deceleration 0 1700 2800 4500 8000 Rotation speed r min 12000 Actual acceleration deceleration output is 1 2 fold of St
44. 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 55 C Working ambient humidity 90 RH or less with no dew condensation Atmosphere No toxic gases Tolerable vibration 98 0 m s 10G Tolerable impact 294 0 m s 30G Tolerable power voltage 5VDC 5 Maximum heating value 2W Mass 0 5kg or less Degree of protection IP65 IP67 97 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 3 Explanation of connectors connector Application Remarks name 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 CONA For connection with pole detection unit Used for linear servo system MDS B MD 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 2 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
45. 2 SD 3 SD SD 8 17 rr 4 SD RQ 3 0 2mm 7 RQ 4 H 8 Case I grounding PE 47777777777777 715 SHD For 10m to 30m Note above wiring diagrams apply to both MBA405W and MBE405W The connection of BT can be omitted for MBE405W incremental IB 1501238 A 152 MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications Appendix 1 3 Main Circuit Cable Connection Diagram The methods for wiring to the main circuit are shown below lt DRSV1 DRSV2 DRSV3 cable connection diagram gt These cables are used to connect the drive unit s TE1 terminal and HG motor DRSV1 cable This is the power line for the multi axis integrated unit MDS EM SPV3 L axis DRSV2 cable This is the power line for the multi axis integrated unit MDS EM SPV3 M axis DRSV3 cable This is the power line for the multi axis integrated unit MDS EM SPV3 S axis Drive unit side Motor side N CAUTION 1 The main circuit cable must be manufactured by the user 2 Refer to the section Specification of Peripheral Devices in Specifications Manual when selecting the wire material 3 Lay out the terminal block on the drive unit side as shown in DRIVE SYSTEM DATA BOOK 4 Refer to DRIVE SYSTEM DATA BOOK for details on the motor s connectors and terminal block 153 IB 1501238 A MDS EM Series Specifications Manual Appendix 1 Cable and Connector Spec
46. 25 26 00000 23 n The connector and terminal block layout may differ according to the unit being used Refer to each unit outline drawing for details lt Each part name gt Name Description 1 SP1 SV1 Unit status indication LED 2 CN9A DlO analog output connector spindle 3 CN9B DlO analog output connector servo 4 22 Control power input terminal 24VDC input connector 5 OPT1A NC optical communication connector 6 OPT1B Slave axis optical communication connector 7 CHARGE LAMP Converter voltage output charge discharge status indication LED 8 SW Axis No setting switch 9 BTI Battery input side 10 Control BTO Battery output side 11 circuit CN2SP Spindle motor side encoder connection connector 5V power supply capacity 0 35A 12 CN3SP Spindle side encoder connection connector 5V power supply capacity 0 35A 13 CN2L Servo motor side encode
47. 35 3 1 10 Synchronous Tapping Control 2 2 nere nti bep t beet ere PEPPER etel 36 3 1 11 Spindle Synchronous Control esses enne ener snnt 36 3 1 12 Spindle G Axis Gornltrol incer c Pere e e te eb eed re e 36 3 1 13 Proximity Switch Orientation Control ssssssssssssseseeeneenne nnnm 36 3 1 14 Power Regeneration Control nennen enne e ness nnne 36 3 1 15 Resistor Regeneration 1 36 3 2 Servo Spindle 37 3 24 Torque Limit FUMCHOM ne eene i uen 37 3 2 2 Variable Speed Loop Gain Control esiintuominen nennen nnne 37 3 2 3 Gain Changeover for Synchronous Tapping 37 3 2 4 Speed Loop PID Changeover Control sse enne nnne 38 3 2 5 Disturbance Torque Observer sssssssssssssssseesseen nennen nnne enne enne nnne en 38 3 2 6 Smooth High Gain Control SHG 38 3 2 7 High speed Synchronous Tapping Control OMR DD 38 3 2 8 Dual Feedback Goritrol 4 4 eerte tatu rei ledge eem retine tot 39 2 29 EIAS dct So aL eus 39 3 240 OMFEFF GCOritt Oh o ccce eter Pec dit dti et dant acad i PE e E uter 40 3 2 11 Control Loop Gain Change
48. 4 2 Vertical Axis Drop Prevention Pull up Control cccccceeeeeeceeeeceeeeseeeeeeeeaeeeeaaeeseaeeeseaeeseeeesesaaeees 45 3 4 3 Earth Fault Detection in arem eredi po Mesh deed epa Ea Ra 45 3 4 4 Collision Detection Function ssssssssssssssseseeeee 46 3 4 5 SLS Safely Limited Speed Function eene 46 3 4 6 Fan Stop Detection sisone aaria ide add ti ded dee dg etude xp aed 46 3 4 7 Open phase Detection sssssssssssssssseseeeee nennen nnne 46 3 4 8 Contactor Weld 1 46 3 4 9 STO Safe Torque Off Function sessssssssssssssssessseeeeee nennen nennen nnne nnns 47 3 4 10 SBC Safe Brake Control Function entente 48 3 4 11 Deceleration and Stop Function at Power Failure 49 3 4 12 Retraction Function at Power enne eene nnns 49 23 5 Sequence FUnctlons ie one Peace ere Hum toe E Lo EORR d Hae vedi ice ene Ese ee Pr Rege 50 3 5 1 Contactor Control Function esent nnns nenne ensi nnns innen 50 3 5 2 Motor Brake Control Function en tenerent nennen 50 3 5 3 External Emergency Stop Function esses enne nennen enne 50 3 5 4 Specified Speed
49. 60 C and 75 C 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 Wiresize Olerablecurrent Conductor copper AWG 60 C 75 C mm IV wire HIV wire 2 14 15A 15A 3 5 12 20A 20A 5 5 10 28A 30A 8 8 34A 46 14 6 50A 65A 22 4 65A 85A 38 2 92A 115A 60 1 0 124A 150A 80 3 0 145A 200A 100 4 0 170A 225A Note relation between wire size and tolerable current above corresponds to restrictions specified in IEC EN60204 1 UL508C JEAC8001 Wire s tolerable current is different depending on the specifications even for the wires of the same size Confirm the operating environment and conditions and wire with the applicable wires 1 600V vinyl insulated wire IV wire 60 product Example according to IEC EN60204 1 UL508C o Temindname j TET TET CN31L M S CN22 Unit type L1 L2 L3 U V W U V W PE VDD SG mm AWG mm mm mm AWG mm AWG MDS EM SPV3 10040 14 6 2 14 MDS EM SPV3 10080 14 6 14 6 Drive unit MDS EM SPV3 16080 22 4 3 5 12 2 14 MDS EM SPV3 20080 7 38 2 MDS EM SPV3 200120 38 2 55 10 2 600V double heat proof vinyl insulated wire HIV wire 75
50. 9 9 9 9 9 13 4 13 4 19 6 Base rotation speed r min 1500 1500 2800 1500 1500 1500 Maximum rotation speed r min 10000 12000 12000 10000 12000 10000 Frame No D90 D90 B90 A112 A112 B112 Continuous rated torque N m 23 6 23 6 12 6 35 0 35 0 47 7 GD kg m 0 053 0 053 0 030 0 094 0 094 0 122 Motor inertia 2 0 013 0 013 0 0074 0 023 0 023 0 031 Tolerable radial load N 1470 1470 980 1960 1960 1960 Input voltage 3 phase 200V Cooling fan Maximum power 38W 38W 38W 50W 50W 50W consumption Ambient temperature Operation 0 to 40 C with no freezing Storage 20 C to 65 C with no freezing Ambient humidity Environment 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 174 SQ 204 SQ 180 SQ 180 SQ Total length excluding shaft mm 417 417 327 439 439 489 Flange fitting diameter mm 150 150 150 180 180 180 Shaft diameter mm 28 28 28 2 2 48 Mass kg 39 39 26 53 53 64 Heat resistant class 155 F Note 1 The tolerable
51. Control 6 3 Spindle Control Signal 6 3 1 Spindle Control Input NC to Spindle 6 3 2 Spindle Control Output Spindle to NC 7 Troubleshooting 7 1 Points of Caution and Confirmation 7 1 1 LED Display When Alarm or Warning Occurs 7 2 Protective Functions List of Units 7 2 1 List of Alarms 7 2 2 List of Warnings 7 3 Troubleshooting 7 3 1 Troubleshooting at Power ON 7 3 2 Troubleshooting for Each Alarm No 7 3 3 Troubleshooting for Each Warning No 7 3 4 Parameter Numbers during Initial Parameter Er ror 7 3 5 Troubleshooting the Spindle System When There Is No Alarm or Warning 8 Maintenance 8 1 Periodic Inspections 8 1 1 Inspections 8 1 2 Cleaning of Spindle Motor 8 2 Service Parts 8 3 Adding and Replacing Units and Parts 8 3 1 Replacing the Drive Unit 8 3 2 Replacing the Battery Appendix 1 Cable and Connector Assembly Appendix 1 1 CMV1 xPxxS xx Plug Connector Appendix 1 2 1747464 1 Plug Connector Appendix 1 2 1 Applicable Products Appendix 1 2 2 Applicable Cable Appendix 1 2 3 Related Documents Appendix 1 2 4 Assembly Procedure Appendix 2 D A Output Specifications for Drive Unit Appendix 2 1 D A Output Specifications Appendix 2 2 Output Data Settings Appendix 2 2 1 Servo Drive Unit Settings Appendix 2 2 2 Spindle Drive Unit Settings Appendix 2 3 Setting the Output Magnification Appendix 2 3 1 Servo Drive Unit Settings Appendix 2 3 2 Spindle Drive Unit Settings Appendix 3 Compliance to EC Directives Appendix 3 1 Complia
52. DL5 5 150 01T SJ DL7 5 150 01T Standard output during A acceleration deceleration 2 E 0 0 2500 3000 4200 15000 0 1500 1800 8000 15000 Rotation speed r min Rotation speed r min Note Actual acceleration deceleration output is 1 2 fold of Standard output during acceleration deceleration or 1 2 fold of Short time rated output IB 1501238 A 22 MDS EM Series Specifications Manual 2 Specifications lt SJ V Series Normal gt SJ V7 5 03ZT 8 0 Output kW gt Output kW N o 0 0 1500 Rotation speed r min SJ V15 01ZT 20 20 a 15 Z 10 10 5 5 0 0 1500 4500 8000 0 Rotation speed r min Note of Short time rated output 10000 12000 0 SJ V11 08ZT 1500 Rotation speed r min SJ V15 09ZT 30 minute rating I 111 1500 6000 Rotation speed r min 23 8000 8000 Output kW Output kW SJ V11 13ZT 0 1500 6000 8000 Rotation speed r min SJ V18 5 01ZT 0 0 1500 4500 8000 Rotation speed r min Actual acceleration deceleration output is 1 2 fold of Standard output during acceleration deceleration or 1 2 fold IB 1501238 A MDS EM Series Specifications Manual 2 Specifications lt SJ V Series Wide range constant output gt SJ V11 01T SJ V11 09T SJ V15 03T Output kW Output kW Output kW 0 750 6000 0 750 6000 Rotation speed r
53. Housing Plug 172169 1 Qty 1 face Note 4 ee Contact Pin 170363 4 Qty 9 aif 23 7 29 50 Name plate 38 Sensor model and 16 5 145 Serial No written 5 2 5 8 eats T ESL m Lid Ground A 5 5 Fy 2 mii N i8 L AO M iL e l o Central line of 5 e detection gear Note 4 9 3 3 C part Note 2 77 D part Note 3 2 hole for identification Detection gear outer DIA 104 Detection gear One notch For Z phase signal The number of teeth 128 For A B phase signals 122 0 025 2 5 screw Note 1 Handle with care as this is a precision component 3 Sensor mounting face Pay special attention not to apply excessive external force on the sensor s detection face Applying such force will cause a fault Encoder mounting face Note 2 In installing the sensor keep the protruding fitting of 122 0 025 mm of machine side on the machine side and push the C part of the sensor mounting seat against the fitting Note 3 In installing the detection gear make sure that the D part side comes the opposite side of the sensor installation side sensor s lead wire side Projection for Note 4 The diviation of the center of the detection gear is 16 5 0 25mm connector lock from the sensor mounting face Note 5 Aconnector of the signal cable side one plug and
54. IB 1501238 A MDS EM Series Specifications Manual 6 Specifications of Peripheral Devices 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 x 200 V Selection of circuit protector for 200V input 10040 80 Unit type MDS EM SPV3 200120 Rated output 18 5kW Circuit protector selection current 76A for 200V input Selection example of circuit protector Mitsubishi Electric Corp Rated current of the selection example of circuit protector Option part A circuit protector is not prepared as an NC unit accessory so purchase the part from your dealer etc NF125 CW3P 100A 100A N CAUTION 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 IB 1501238 A 116 MDS EM Series Specifications Manual 6 Specifications of Peripheral Devices 6 2 2 Selection of Con
55. Manual Contact Fujikura Ltd http www fujikura co jp eng Brake connector Brake connector Unit mm Manufacturer DDK lt gt N Plug CMV1 SP2S S lt Unit mm Manufacturer DDK Type Plug CMV1 AP2S S 32 gt Note For the manufacturing method of CMV1 series connector refer to the section Cable and Connector Assembly in Instruction Manual IB 1501238 A 158 MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications Motor power connector Motor power connector Unit mm D or less 7 85 Manufacturer DDK E Wn 1 CJ EMu A L gs s M Y Plug Type A B C 0 8 D or less w 0 38 i CE05 6A18 10SD C BSS 1 18 1 8UNEF 2B 34 13 32 1 57 1 20UNEF 2A CE05 6A22 22SD C BSS 13 g 18UNEF 2B 40 48 38 3 61 1949 18UNEF 2A CE05 6A32 17SD C BSS 2 18UNS 2B 56 33 54 2 79 13 18UNS 2A Unit mm D or less Manufacturer DDK 2 Plug Type A B 2 38 D or less R 0 7 U 0 7 5 1 CE05 8A18 10SD C BAS 1 g 18UNEF 2B 34 13 69 5 1 20UNEF 2A 13 2 30 2 43 4 7 5 CE05 8A22 22SD C BAS 13 g 18UNEF 2B 40 48 75 5 15 6 18UNEF 2A 16 3 33 3 49 6 7 5 CE05 8A32 17SD C BAS 2 18UNS 2B 56 33 93 5 13 4 18UNS 2A 24 6 44 5 61 9 8 5 Unit mm lt 0 a
56. SJ V Series Normal gt Spindle motor type SJ V7 5 03ZT SJ V11 08ZT SJ V11 13ZT SJ V15 01ZT SJ V15 09ZT pa Compatible drive unit MDS EM SPV3 16080 200xx 200xx 200xx 200xx 200xx type Continuous rating kW 5 5 7 5 7 5 11 11 15 7 5 11 11 15 15 18 5 Short time rating kW 30 minute 30 minute 30 minute 30 minute 30 minute 30 minute Output rating rating rating rating rating rating capacity Standard output during acceleration deceleration kW ps 19 it Actual acceleration deceleration output kW 3 ies 13 2 18 18 222 Power facility capacity kVA 13 4 19 6 19 6 26 7 26 7 32 8 Base rotation speed r min 1500 1500 1500 1500 1500 1500 Maximum rotation speed r min 12000 8000 8000 8000 8000 8000 Frame No A112 B112 B112 A160 A160 A160 Continuous rated torque N m 35 47 7 47 7 70 70 95 5 GD2 kg m 0 098 0 12 0 12 0 23 0 23 0 23 Inertia kg m 0 0245 0 03 0 03 0 0575 0 0575 0 0575 Tolerable radial load N 980 1960 1960 2940 2940 2940 Input voltage 3 phase 200V 3 phase 200V 3 phase 200 3 phase 200V 3 phase 200V 3 phase 200V Cooling fan Maximum power 40W 70W 40W 63W 63W consumption Ambient temperature Operation 0 to 40 C with no freezing Storage 20 C to 65 C with no freezing Ambient humidity Environment Operation 90 RH or less with no dew condensation Storage 90 RH or less with no dew cond ensation
57. Scorn AT343 Not required 0 05um 120m min AT543 Not required 0 05um 150m min Mitutoyo Corporation 0 00488 545 Not required 20 4096 um 150m min ST748 Not required 0 1um 300m min 0 000043 1 MPRZ Series ADB 20J71 8 388 608p rev 10 000r min MPS Series ADB 20J60 0 05um 3600m min Mitsubishi Heavy 0 00005 Industries 7 200 000p rev MPI Series ADB 20J60 or 5 000r min 0 000025 14 400 000p rev SAM Series Not required 0 05um 120m min SVAM Series Not required 0 05um 120m min GAM Series Not required 0 05um 120m min FAGOR Automation LAM Series Not required 0 1um 120m min 0 0000429 6000r min 8 388 HAM Series Not required 8 6000r min 134 217 728p rev RL4ON Series Not required 2091 6 000m min 0 001um Renishaw plc 8 oes pe um 36000r min RA Series Not required ED bU a 36000r min 134 217 728p rev 79 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options lt Contact information about machine side encoder gt 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 http www mhi co jp en index html FAGOR Automation http www fagorautomation com Renishaw plc http www renishaw com N CAUTION 1 Confirm the specifications of each encoder manufacturer before using machine side encoders made by other
58. Spindle motor side connector Tyco Electronics Connector 172169 1 Contact 170363 1 AWG26 22 170364 1 AWG22 18 P5 5V LG MT1 MT2 SD SD RQ RQ SHD Note For the pin 7 or 8 use the contact 170364 1 For the other pins use the contact 170363 1 lt For 15m or less gt Spindle drive unit side connector 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 MOLEX Connector set 54599 1019 P5 5V LG MT1 MT2 SD SD RQ RQ Case grounding Spindle motor side connector Tyco Electronics Connector 172169 1 Contact 170363 1 AWG26 22 170364 1 AWG22 18 P5 5V LG MT1 MT2 SD SD RQ RQ SHD IB 1501238 A Note For the pin 7 or 8 use the contact 170364 1 For the other pins use the contact 170363 1 lt For 15m to 30m gt 150 MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications lt CNP3EZ 2P CNP3EZ 3P cable connection diagram gt Spindle drive unit side connector 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 MOLEX Connector set 54599 1019 P5 5V LG ABZSEL A Case grounding Spindle drive unit side connector 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 MOLEX Connector set 54599 1019 P5 5V LG ABZSEL A B B 2 lt For 15m or less gt Spindle motor side connector DDK Connector MS3106A20 29S D190 Back shell CE02 20BS S
59. 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 ll 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 000596 Cd cadmium 0 002 Pb lead 0 004956 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 MEL
60. USJ 10 1B 47620 UEP SUBANG JAYA SELANGOR DARUL EHSAN MALAYSIA TEL 60 3 5631 7605 FAX 60 3 5631 7636 Malaysia Johor Baru Service Center 17 amp 17 JALAN IMPIAN EMAS 5 5 IMPIAN EMAS 81300 SKUDAI JOHOR MALAYSIA TEL 60 7 557 8218 FAX 60 7 557 3404 Philippines Service Center UNIT NO 411 ALABAMG CORPORATE CENTER KM 25 WEST SERVICE ROAD SOUTH SUPERHIGHWAY ALABAMG MUNTINLUPA METRO MANILA PHILIPPINES 1771 TEL 63 2 807 2416 FAX 63 2 807 2417 VIETNAM MITSUBISHI ELECTRIC VIETNAM CO LTD Vietnam Ho Chi Minh Service Center UNIT 01 04 10TH FLOOR VINCOM CENTER 72 LE THANH TON STREET DISTRICT 1 HO CHI MINH CITY VIETNAM TEL 84 8 3910 5945 FAX 84 8 3910 5946 Vietnam Hanoi Service Satellite 6th Floor Detech Tower 8 Ton That Thuyet Street My Dinh 2 Ward Nam Tu Liem District Hanoi Vietnam TEL 84 4 3937 8075 FAX 84 4 3937 8076 PT MITSUBISHI ELECTRIC INDONESIA Indonesia Service Center Cikarang Office JL Kenari Raya Blok G2 07A Delta Silicon 5 Lippo Cikarang Bekasi 17550 INDONESIA TEL 62 21 2961 7797 FAX 62 21 2961 7794 THAILAND MITSUBISHI ELECTRIC FACTORY AUTOMATION THAILAND CO LTD Thailand Service Center 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 31 FAX 66 2 682 6020 MITSUBISHI ELECTRIC INDIA PVT LTD India Service Center 2nd FLOOR TOWER A amp
61. 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 130 C The magnet could be demagnetized and the specifications characteristics will not be ensured Always use a nonmagnetic tool explosion proof beryllium copper alloy safety tool NGK Insulators etc when installing the 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 N CAUTION 2 gt bP BP PB gt BP BPP gt BB 3 gt BP BB gt 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 alwa
62. chips get imbedded Safety can be maintained by using the method shown on the right below Top op 1 B 8 en UE 8 Bolter J L Bottom L Motor No brakes me S lt n Mis scs Ball screw EHE all screw M Timing belt m Timing belt 59 IB 1501238 A MDS EM Series Specifications Manual 4 Characteristics 2 Magnetic brake characteristics lt HG Series gt Motor type Item HG54B HG104B HG154B HG224B HG123B HG223B HG142B HG204B HG354B HG303B HG453B HG302B Type Note 1 Spring closed non exciting operation magnetic brakes for maintenance and emergency braking Rated voltage 24VDC Rated current at 20 C A 0 8 1 4 Capacity W 19 34 Static friction torque N m 8 3 43 1 Inertia Note 2 kg cm 2 2 9 7 Release delay time Note 3 s 0 04 0 1 Braking delay time DC OFF Note 3 s 0 03 0 03 Tolerable braking work Per braking J 400 4 500 amount Per hour J 4 000 45 000 Brake play at motor axis degree 0 2 to 0 6 0 2 to 0 6 EDU dS 20 000 20 000 Brake life Note 4 HWork amount 200 1 000 per braking J 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 brak
63. 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 POINT 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 131 IB 1501238 A MDS EM Series Specifications Manual 7 Selection 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 continu
64. manufacturers 2 Refer to Twin head Magnetic Encoder MBA Series for details of the specifications of MBA405W 1B 1501238 A 80 MDS EM Series Specifications Manual 5 Dedicated Options 5 1 4 Twin head Magnetic Encoder MBA Series 1 Type description 2 Specifications MBA 405W B 1 2 1 Symbol Drum outer diameter E 100mm 6 02006 mm 2 Symbol Drum inner diameter 082 82mm 125 125mm 0160 mm ncoder type Encoder resolution 4 000 000p rev Detection method Absolute position method battery backup method Electrical Accuracy 1 2 4 seconds 3 seconds 2 seconds characteristics Wave number within one rotation 512 waves 768 waves 1024 waves Encoder output data Serial data Power consumption 0 2A or less Mechanical Inertia 0 5x10 kg m 2 4x10 kg m 8 7x10 kg m characteristics for rotation Tolerable continuous rotation speed 3000r min 2000r min 1500r min Drum inner diameter 82mm 125 160 Drum outer diameter 100mm 0150 3mm 200 6 configuration Drum mass 0 2kg 0 46kg 1 0kg Degree of protection 3 IP67 Ambient temperature range 0 to 55 C Storage temperature range 20 C to 85 C Humidity 95 RH Working environment Vibration resistance Horizontal direction to the ax
65. min 0 750 6000 Rotation speed r min Rotation speed r min lt SJ VL Series Low inertia gt SJ VL11 02FZT SJ VL11 05FZT S01 15 Standard output during jacceleration deceleratio Output kW Output kW ae 4 5 10 minute rating 0 5000 6000 18000 20000 Rotation speed r min Rotation speed r min 0 0 1500 4000 10000 15000 Note Actual acceleration deceleration output is 1 2 fold of Standard output during acceleration deceleration or 1 2 fold of Short time rated output IB 1501238 A 24 MDS EM Series Specifications Manual 2 Specifications 2 3 Drive Unit 2 3 1 Installation Environment Conditions Common installation environment conditions for servo and spindle are shown below Ambient temperature Operation 0 to 55 C with no freezing Storage Transportation 15 C to 70 C with no freezing Operation 90 RH or less with no dew condensation Storage Transportation 90 RH or less with no dew condensation Ambient humidity 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 s 5G 25 IB 1501238 A MDS EM Series Specifications Manual 2 Specifi
66. nine pins is attached Sensor Yatton ar Pars name Leed wre ergh A lmm Parts rame TS5690N1210 400 10 TS5690N1220 800 20 Pin layout of output TS5690N1230 1200 20 MU1606N709 Seen from ArrowA connector TS5690N1240 1600 30 TS5690N1260 2000 30 IB 1501238 A 90 MDS EM Series Specifications Manual 5 Dedicated Options lt TS5690N25xx MU1606N805 gt Sensor mounting Unit mm Output connector by Tyco Electronics Housing Cap 172161 1 Contact Socket 170365 4 Accessories Note 5 Contact Pin 170363 4 Qty 9 Housing Plug 172169 1 Qty 1 Round crimp contact for thermistor 0 5 4 For M4 screw 400210 50 a 38 5 9 EN A 14 5 LEASE f 2 5 8 OL A 23 7 3 Name plate BY Sensor model and Serial No written C part Note 2 identification D part Note 3 2 hole for face Note 4 29 16 5 5 5 5 1r 2 SES f g P 4 Central line of 8 L 4 detection gear 3 H Note 4 o FT S IS A co lt e H 88 8 18 S a The number of teeth 256 For A
67. position control gain PGN with the scale model position loop gain PGM 2 Position loop gain PGN can be set for each axis Delay in the machine s response caused by friction or cutting load etc can be compensated with high gain ee lt OMR FF control Drive unit The optimal feed forward control ensures both the high stability I OMR FF control and trackability Il Position Model 11 command position 2 Feed forward model generation part Machine system Position Speed Current FF Position speed and current control 1 i Feedback control V Compensates the mechanical response delay caused by friction or other disturbances T Position loop gain can be set independently for each axis 3 2 11 Control Loop Gain Changeover Position loop gain and speed loop gain are switched between non interpolation mode which is used during speed command and interpolation mode which is used during synchronous tapping and C axis control By switching these gains optimum control for each mode can be realized 3 2 12 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 vo
68. 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 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 35 IB 1501238 A MDS EM Series Specifications Manual 3 Function Specifications 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 lat
69. state of emergency 2 First aid measure Inhalation Damages or short circuits may occur due to external mechanical or electrical pressures 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 Ingestion 3 Fire fighting measure Appropriate fire extinguisher 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 If swallowed consult a doctor immediately 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 4 Measure for leakage Environmental precaution Fire protection gloves eye face protector face mask body skin protective cloth 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 5 Handling and storage Cautions for safety handling Do not peel the external tube or damage it Do not dispose of the battery in fire or exp
70. there is a highly possibility that external power is added Therefore make sure to use the cable for wiring outside panel J395 L M Ifa 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 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 Protection when not in use When the OPT1A 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 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 Cleaning If OPT1A OPT1B connector of the drive unit or optical communication cable connector is dirty it may cause poor connection If
71. to the restriction When shipping those products to EU countries later than September 26th 2008 follow the instruction explained in 1 IB 1501238 A MDS EM Series Specifications Manual Appendix 2 Restrictions for Lithium Batteries IB 1501238 A 170 Appendix 3 EC Declaration of Conformity MDS EM Series Specifications Manual Appendix 3 EC Declaration of Conformity Appendix 3 1 EC Declaration of Conformity Each series can respond to LVD and EMC and Machinery 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 EM Series MITSUBISHI ELECTRIC Changes for the Better EU DECLARATION OF CONFORMITY Manufacturer MITSUBISHI ELECTRIC CORPORATION Address TOKYO 100 8310 JAPAN Place of Declare BrandName wee Aa MITSUBISHI declare under our sole responsibility that the product Description AC Servo Spindle Drive Unit Type of Model MDS EM SPVx Series Notice to which this declaration relates is in conformity with the following standard and directive Directive Harmonized Standard Notified Body Low Voltage Directive 2006 95 EC EN61800 5 1 2007 1 IEC61800 5 1 2007 edition 2 EMC Directive 2004 108 EC 61800 3 2004 A1 2012 1 IEC 61800 3 2004 1 2011 The Last Two digit of the year in which the CE marking was affixed for Low Voltage Directive is 07
72. 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 165 IB 1501238 A MDS EM Series Specifications Manual Appendix 2 Restrictions for Lithium Batteries 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 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
73. 0 0100PL Shell kit 36310 3200 008 oT Compatible part Note 1 MOLEX Connector set 54599 1019 J S T Plug connector XV 10P 03 L R Cable kit XV PCK10 R The names of compatible parts may be changed at the manufacturer s discretion Contact each manufacturer for more information lt Twin head magnetic encoder MBE405W MBA405W cable and connector gt Item Model Contents Drive unit side connector Encoder preamplifier side connector 3M Hirose Electric Receptacle 36210 0100PL Plug RM15WTPZK 12S Shell kit 36310 3200 008 Clamp JR13WCCA 8 72 Cable for CNV2E MB L1 M MBE405W MBA405W Length 2 3 4 5 7 10 15 20m Compatible part Note 1 MOLEX For CN2 Connector set 54599 1019 J S T Plug connector XV 10P 03 L R Cable kit XV PCK10 R Encoder preamplifier side connector Hirose Electric Connector for Plug RM15WTPZK 12S MBE405W MBA405W CNEMB2S 8 Cord clamp JR13WCCA 8 72 Encoder preamplifier side connector Hirose Electric Thermistor connector Plug RM15WTPZ 10S For CN3 for MBE405W CNEMB3S 8 Cord clamp JR13WCCA 8 72 MBA405W 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 Awww jae com jaehome htm HIROSE ELECTRIC CO LTD http www hirose com Sumitomo
74. 0 02 1060 SPV3 xxx80 1356 SPV3 200120 a0 1255 850 SPV3 xxx80 1765 hazza SPV3 200120 120 1042 SPV3 xxx80 1029 HG204 SPV3 200120 13 7 15 95 LF 87 HG354 SPV3 200120 22 5 35 25 908 HG123 SPV3 10040 7 0 9 80 750 HG223 SPV3 10040 xxx80 12 0 19 93 1059 SPV3 xxx80 955 HG303 SPV3 200120 22 5 30 40 L 55 HG453 SPV3 200120 37 2 52 94 1080 HG142 SPV3 10040 11 0 14 43 547 HG302 SPV3 10040 xxx80 20 0 29 42 635 IB 1501238 A 62 MDS EM Series Specifications Manual 4 Characteristics 2 Coasting rotation distance during emergency stop The distance that the motor coasts angle for rotary axis when stopping with the dynamic brakes can be approximated with the following expression Lmax E itet je Qa 60 J Motor coasting distance angle mm deg F Axis feedrate mm min deg min N Motor speed r min JM Motor inertia x10 kg m JL Motor shaft conversion load inertia x10 kg m te Brake drive relay delay time s Normally 0 03s A Coefficient A Refer to the following table B Coefficient B Refer to the following table Emergency stop EMG xd Dynamic brake control output d p MM Actual dynamic brake operation pH 5 Coasting amount o Time te Dynamic brake braking diagram Coasting amount calculation coefficients table Motor type Drive unit type Jy
75. 01238 A 76 MDS EM Series Specifications Manual 5 Dedicated Options 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 lt Encoder output signal gt 1Vp p analog A phase B phase Z phase differential output Output signal frequency 200kHz or less Voltage V Aphase B phase 0 5 0 5 Time phase output signal waveform during forward run Combination speed rotation speed In use of linear scale Voltage V A phase Z phase 2 5 360 Angle P Relationship between A phase and Z phase When the differential output waveform is measured 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 o
76. 1 2 Note For the spindle rated output use the larger one of short time rated output x 1 2 and output at acceleration deceleration x 1 2 1B 1501238 A 138 MDS EM Series Specifications Manual 7 Selection 7 3 2 Calculation of Servo Motor Output 1 Selection with rated output 2 Selection with maximum momentary output For the rated output and maximum momentary output of the servo motor use the value corresponding to the servo motor in the table 3 Table 3 Data for servo motor output selection 200V series gt Rated output kW 0 75 1 0 0 5 1 0 1 5 2 2 2 0 3 5 Maximum momentary output kW 2 6 3 6 2 3 5 0 9 0 12 8 Rated output kW 1 2 2 2 3 0 4 5 14 3 0 Maximum momentary output kW 4 0 7 5 12 0 16 5 3 8 7 4 8 0 15 0 Note maximum momentary output in this table is reference data for selecting the additional axis drive unit connecting to MDS EM SPV3 and is not data which guarantees the maximum output 139 IB 1501238 A MDS EM Series Specifications Manual 7 Selection 7 3 3 Selection of the Additional Axis Drive Unit 1 2 Select the additional axis drive unit so that the total sum of the rated output and the maximum momentary output of spindle motor servo motor is less than the rated capacity and maximum momentary rated capacity of MDS EM SPV3 Calculation of required rated outpu
77. 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 Servo Motor 1 1 10 Cable Stress 1 2 Installation of Spindle Motor 1 2 1 Environmental Conditions 1 2 2 Balancing the Spindle Motor Unit 1 2 3 Shaft Characteristics 1 2 4 Machine Accuracy 1 2 5 Coupling with the Fittings 1 2 6 Ambient Environment 1 2 7 Installation of Spindle Motor 1 2 8 Connection 1 2 9 Cable Stress 1 3 Installation of the Drive Unit 1 3 1 Environmental Conditions 1 3 2 Installation Direction and Clearance 1 3 3 Prevention of Entering of Foreign Matter 1 3 4 Panel Installation Hole Work Drawings Panel Cut Drawings 1 3 5 Heating Value 1 3 6 Heat Radiation Countermeasures 1 4 Installation of the Machine End Encoder 1 4 1 Spindle Side ABZ Pulse Output Encoder OSE 1024 Series 1 4 2 Spindle Side PLG Serial Output Encoder TS5690 MU1606 Series 1 4 3 Twin head Magnetic Encoder MBA405W MBE405W Series 1 5 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 Connectors 2 2 2 Connector Pin Assignment 2 2 3 Main Circuit Connector TE1 Wiring Method 2 3 NC and Drive Unit Connection 2 4 Motor and Encoder Connection 2 4 1 Connection of the Servo Motor 2 4 2 Connection of the Full closed L
78. 1 MT2 11 12 CNT 12 IB 1501238 A 84 MDS EM Series Specifications Manual 5 Dedicated Options 5 2 Spindle Options According to the spindle control to be adopted select the spindle side encoder based on the following table a No variable speed control When spindle and motor are directly coupled or coupled with a 1 1 gear ratio pin ine Control specifications Without spindle side encoder With spindle side encoder control item Normal cutting control Spindle control Constant surface speed control lathe e Thread cutting lathe e 1 point orientation control Orientation control IESE control This normally is not used for no Orientation indexing variable speed control Synchronous tap Standard synchronous tap e control Synchronous tap after zero point return e Spindle Without phase alignment function e synchronous 2 1 Control With phase alignment function C axis control C axis control Note 2 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 b Variable speed control When using V belt or when spindle and motor are connected with a gear ratio other than 1 1 WR spindle side encoder Spindle Control specifications Without spindle sid
79. 11 P5 12 GND lt Connector pin layout gt Connector Type RM15WTR 8P Hirose Electric CON3 RM15WTR 12S Hirose Electric CON4 RM15WTR 10S Hirose Electric 4 Outline dimension drawings RM15WTR 8Px2 CON3 CON4 IB 1501238 A 165 98 RM15WTR 10S g fr RM15WTR 12S Unit mm MDS EM Series Specifications Manual 5 Dedicated Options 5 Example of wiring MDS EM SPV3 LELE L ai Ter 1 MDS B HR pss pes d anos Control panel Motor Machine end encoder Note 1 For connections between an encoder and MDS B HR unit keep the cable length as short as possible Note 2 Ground the MDS B HR unit Note 3 Ground the cable shield using a metal clamp Place the clamp as close as possible to the MDS B HR unit Note 4 Place a ferrite core as close as possible to the MDS B HR unit 99 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 5 3 2 Serial Output Interface Unit for ABZ Analog Encoder EIB192M Other Manufacturer s Product 1 Appearance 2 Specifications Type EIB192M A4 20um EIB192M C4 1200 EIB192M C4 2048 Manufacturer HEIDENHAIN CORPORATION Input signal A phase B phase SIN wave 1Vpp Z phase Maximum input frequen
80. 2 The distance coded reference scale is the supported option for M800 Series lt Contact information about machine side encoder gt 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 http Awww mhi co jp en index html FAGOR Automation http www fagorautomation com Renishaw plc http www renishaw com X POINT encoder and absolute position motor side encoder The absolute position system cannot be established in combination with the relative position incremental machine side 69 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 5 1 1 Battery Option MR BAT6V1SET MDSBTBOX LR2060 This battery option may be required to establish absolute position system Select a battery option from the table below depending on the servo system Type MR BAT6V1SET MDSBTBOX LR2060 a Drive unit with battery holder type Unit and battery integration type Hazard class Not applicable Not applicable Number of connectable Up to 3 axes Up to 8 axes axes Possible Possible change 2 Appearance Built in battery MR BAT6V1 We plate 2CR17335A WK17 i lice a unas 1 11 04 M N 1 6V 1650mAh JPateo gt manufacture N CAU
81. 2 Shaft Characteristics There is a limit to the load that can be applied on the motor shaft Make sure that the load applied on the radial direction when mounted on the machine is below the tolerable values given below These loads may affect the motor output torque so consider them when designing the machine Spindle motor Tolerable radial load SJ VL11 05FZT S01 98N SJ DL5 5 150 01T SJ VL11 02FZT 245N SJ D5 5 120 02 SJ DJ5 5 100 01 SJ DJ5 5 120 01 980N SJ DL7 5 150 01T SJ V7 5 03ZT SJ DG3 7 120 03T SJ D5 5 100 01 SJ D5 5 120 01 SJ DJ7 5 100 01 1470N SJ DJ7 5 120 01 SJ DG5 5 120 04T SJ D7 5 100 01 SJ D7 5 120 01 SJ D11 100 01 SJ DJ11 100 01 SJ DJ15 80 01 SJ V11 08ZT SJ V11 13ZT 1960N SJ V11 01T SJ DG7 5 120 05T SJ DG11 100 03T SJ V15 01ZT SJ V15 09ZT SJ V18 5 01ZT SJ V11 09T SJ V15 03T 2940N E t Radial load Note load point is at the one half of the shaft length CAUTION Consider on the machine side so that the thrust loads are not applied to the spindle motor IB 1501238 A 64 MDS EM Series Specifications Manual 4 Characteristics 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 Measurement RrameiNe Accuracy point B71 B90 C90 D90 A160 A112 B112 Run out of the flang
82. 2 Vibration Suppression Measures 5 3 3 Improving the Cutting Surface Precision 5 3 4 Improvement of Characteristics during Accelera tion Deceleration 5 3 5 Improvement of Protrusion at Quadrant Change over 5 3 6 Improvement of Overshooting 5 3 7 Improvement of the Interpolation Control Path 5 4 Adjustment during Full Closed Loop Control 5 4 1 Outline 5 4 2 Speed Loop Delay Compensation 5 4 3 Dual Feedback Control 5 5 Settings for Emergency Stop 5 5 1 Deceleration Control 5 5 2 Vertical Axis Drop Prevention Control 5 5 3 Vertical Axis Pull up Control 5 6 Protective Functions 5 6 1 Overload Detection 5 6 2 Excessive Error Detection 5 6 3 Collision Detection Function 5 7 Servo Control Signal 5 7 1 Servo Control Input NC to Servo 5 7 2 Servo Control Output Servo to NC 6 Spindle Adjustment 6 1 Adjustment Procedures for Each Control 6 1 1 Basic Adjustments 6 1 2 Gain Adjustment 6 1 3 Adjusting the Acceleration Deceleration Opera tion 6 1 4 Orientation Adjustment 6 1 5 Synchronous Tapping Adjustment 6 1 6 High speed Synchronous Tapping 6 1 7 Spindle C Axis Adjustment For Lathe System 6 1 8 Spindle Synchronization Adjustment For Lathe System 6 1 9 Deceleration Coil Changeover Valid Function by Emergency Stop 6 1 10 High response Acceleration Deceleration Func tion 6 1 11 Spindle Cutting Withstand Level Improvement 6 1 12 Spindle Motor Temperature Compensation Function 6 2 Settings for Emergency Stop 6 2 1 Deceleration
83. 478 2500 FAX 1 847 478 2650 West Region Service Center 16900 VALLEY VIEW AVE LAMIRADA CALIFORNIA 90638 U S A TEL 1 714 699 2625 FAX 1 847 478 2650 Northern CA Satellite SARATOGA CALIFORNIA 95070 U S A TEL 1 714 699 2625 FAX 1 847 478 2650 Pennsylvania Service Satellite PITTSBURG PENNSYLVANIA 15644 U S A TEL 1 732 560 4500 FAX 1 732 560 4531 Connecticut Service Satellite TORRINGTON CONNECTICUT 06790 U S A TEL 1 732 560 4500 FAX 1 732 560 4531 South Region Service Center 1845 SATTELITE BOULEVARD STE 450 DULUTH GEORGIA 30097 U S A TEL 1 678 258 4529 FAX 1 678 258 4519 Texas Service Satellites GRAPEVINE TEXAS 76051 U S A TEL 1 678 258 4529 FAX 1 678 258 4519 HOUSTON TEXAS 77001 U S A TEL 1 678 258 4529 FAX 1 678 258 4519 Tennessee Service Satellite Nashville Tennessee 37201 U S A TEL 1 678 258 4529 FAX 1 678 258 4519 Florida Service Satellite WEST MELBOURNE FLORIDA 32904 U S A TEL 1 678 258 4529 FAX 1 678 258 4519 Canada Region Service Center 4299 14TH AVENUE MARKHAM ONTARIO L3R OJ2 CANADA TEL 1 905 475 7728 FAX 1 905 475 7935 Canada Service Satellite EDMONTON ALBERTA T5A 0A1 CANADA TEL 1 905 475 7728 FAX 1 905 475 7935 Mexico Region Service Center MARIANO ESCOBEDO 69 TLALNEPANTLA 54030 EDO DE MEXICO TEL 52 55 3067 7500 FAX 52 55 9171 7649 Monterrey Service Satellite MONTERREY N L 64720 MEXICO TEL
84. 52 81 8365 4171 BRAZIL MELCO CNC do Brasil Com rcio e Servicos S A Brazil Region Service Center ACESSO JOSE SARTORELLI KM 2 1 CEP 18550 000 BOITUVA SP BRAZIL TEL 55 15 3363 9900 FAX 55 15 3363 9911 MITSUBISHI ELECTRIC EUROPE B V GOTHAER STRASSE 10 40880 RATINGEN GERMANY TEL 49 2102 486 0 FAX 49 2102 486 5910 Germany Service Center KURZE STRASSE 40 70794 FILDERSTADT BONLANDEN GERMANY TEL 49 711 770598 123 FAX 49 711 770598 141 France Service Center DEPARTEMENT CONTROLE NUMERIQUE 25 BOULEVARD DES BOUVETS 92741 NANTERRE CEDEX FRANCE TEL 33 1 41 02 83 13 FAX 33 1 49 01 07 25 France Lyon Service Satellite DEPARTEMENT CONTROLE NUMERIQUE 120 ALLEE JACQUES MONOD 69800 SAINT PRIEST FRANCE TEL 33 1 41 02 83 13 FAX 33 1 49 01 07 25 Italy Service Center VIALE COLLEONI 7 CENTRO DIREZIONALE COLLEONI PALAZZO SIRIO INGRESSO 1 20864 AGRATE BRIANZA MB ITALY TEL 39 039 6053 342 FAX 39 039 6053 206 Italy Padova Service Satellite VIA G SAVELLI 24 35129 PADOVA ITALY TEL 39 039 6053 342 FAX 39 039 6053 206 U K Branch TRAVELLERS LANE HATFIELD HERTFORDSHIRE AL10 8XB U K TEL 49 2102 486 0 FAX 49 2102 486 5910 Spain Service Center CTRA DE RUBI 76 80 APDO 420 08173 SAINT CUGAT DEL VALLES BARCELONA SPAIN TEL 34 935 65 2236 FAX 34 935 89 1579 Poland Service Center UL KRAKOWSKA 50 32 083 BALICE POLAND TEL 48 12 630 4700 FAX 48 12 630 4701 Mitsubish
85. 5mm Red White A2 0 5mm Black White B1 0 2mm Brown Orange B2 0 2mm Blue Green B3 0 2mm Purple White B4 0 2mm Yellow White IB 1501238 A 144 MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications 2 Cable assembly Assemble the cable with the cable shield wire securely connected to the ground plate of the connector Core wire _ Connect with a ground plate of connector I6 Shield Sheath external conductor Note Shield processing of battery cable is unnecessary S Battery connection cable Wire type Finish Wire characteristics other Sheath No of F m i outer h Configura Conductive Withstand Insulation A Minimum manufacturer s di material pairs 2 resistance iameter tion resistor voltage resistance bend radius product temperature J14B101224 00 1000MQ 1 Two core shield 3 3mm PVC 80 R33mm 0 2mm 0 2mm or less 1min cable or less 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 Sheath RN S Shield 7 JUNFLONGETFE wire Two core shield cable structure drawing Core identification No Insulator color 1 Red 2 Black 145 IB 1501238 A MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications Appe
86. 9 Flange fitting diameter mm 150 150 150 150 180 180 Shaft diameter mm 28 28 28 28 32 48 Mass kg 26 26 39 39 53 64 Heat resistant class 155 F 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 For outline dimension drawings refer to DRIVE SYSTEM DATA BOOK IB 1501252 ENG 15 IB 1501238 A MDS EM Series Specifications Manual 2 Specifications lt SJ DL Series Low inertia gt Spindle motor type SJ DL5 5 150 01T SJ DL7 5 150 01T Compatible drive unit type MDS EM SPV3 16080 16080 Continuous rating kW 3 7 5 5 5 5 7 5 Short time rating kW Output 15 minute rating 30 minute rating Standard output during capacit pagay acceleration deceleration kW 11 11 Actual acceleration deceleration output kW 138 182 Power facility capacity kVA 9 9 13 4 Base rotation speed r min 2500 1500 Maximum rotation speed r min 15000 15000 Frame No C90 B112 Continuous rated torque N m 14 1 35 0 GD2 kg m 0 018 0 063 Inertia kg m 0 0046 0 016 Tolerable radial load N 245 980 Inpu
87. 92M C6 2048 83 554 432p rev 11718 r min Mitsubishi Heavy Industries MPCI series ADB 20J20 oe 10000 r min 7200000p rev Contact information about machine side encoder HEIDENHAIN CORPORATION http www heidenhain com Mitsubishi Heavy Industries http www mhi co jp en index html N CAUTION Confirm specifications of each encoder manufacturer before using the machine side encoder 5 2 5 Machine Side Encoder Refer to the section 5 1 3 Machine Side Encoder 1B 1501238 A 96 MDS EM Series Specifications Manual 5 Dedicated Options 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 1 Type configuration MDS B HR 1 10 1 Signal division function class 2 Degree of protection Symbol Scale output voltage class 11 Output number 1 12 Output number 2 with division 2 Specifications Type MDS B HR 11 12 11P 12P Compatible scale example LS186 LS486 LS186C LS486C HEIDENHAIN Signal 2 division function u E input A phase B phase Z phase Amplitude
88. 9A connector CN9B connector 24V e 24V 13 2 3 4 1k IN a CN9A CN9B Relay etc 8 82 DICOM Q c DK 18 j Drive unit Spy in AO N 16 ple CN9B connector gt K i Refa pp qe lj 7 13 213 4 1k Lo 1 pK tof ms DKF e To DICOM 20 Servo spindle er gt drive unit Drive unit The part indicated by the ______ must be prepared by the user Note not connect 1 or 2 If a ground of the external 24V power is same as the 24V power in the drive unit a fault or abnormal operation could occur 121 IB 1501238 A MDS EM Series Specifications Manual 6 Specifications of Peripheral Devices Servo input output signal CN9A CN9B connector Connector Signal name Signal changeover parameter name pin No CN9B 13 Reservation Servo input signal MPI2 CN9A 2 Reservation MPI3 CN9A 3 Reservation P MBCL CN9B 8 SBC1 Relay control signal Servo output signal N MBCL CN9B 15 SBC2 Relay control signal 4 CN9A 8 Servo specified speed signal SV082 bit9 8 01 MPO5 CN9A 18 Reservation Spindle input output signal CN9A CN9B connector ose Signal Signal changeover par
89. A 104 MDS EM Series Specifications Manual 5 Dedicated Options lt Servo encoder cable and connector gt Item Model ontents Drive unit side connector Motor encoder 3M Ball screw side encoder side Receptacle 36210 0100PL 05 2 OM Shell kit 36310 3200 008 Contact CMV1 22A8C S1 O Length 2 3 4 5 Ni ilf 7 10 15 20 Compatible part Note 2 25 30m MOLEX Connector set 54599 1019 J S T For Plug connector XV 10P 03 L R cna For HG Cable kit XV PCK10 R CN2M Motor side encoder Us e Motor encoder CN2S gable for D48 D51 Ball screw side encoder side Receptacle 36210 0100PL Eu ne T 0S M2 Shell kit 36310 3200 008 CNV2E 9P O M Contact CMV1 22ASC S1 L1 Length 4 1 2 3 4 5 3 7 10 15 20 Compatible part Note 2 25 30m MOLEX Connector set 54599 1019 J S T Plug connector XV 10P 03 L R Cable kit XV PCK10 R Motor encoder Ball screw side encoder side CNE10 R10S 9 connector DDK Applicable cable outline Plug CMV1 SP10S M2 For 6 0 to 9 0mm Contact CMV1 22ASC S1 Motor side encoder a Ball connector Ball screw side encoder Motor encoder ate connector Ball screw side encoder side mon CNE10 R10L 9 connector DDK Applicable cable outline Plug CMV1 AP10S M2 6 0 to 9 0mm Contact CMV1 22ASC S1 Drive unit side connector MDS B HR unit side co
90. ANNA G 5 EIERN L 4 Hirose Electric Hirose Electric RM15WTRZBK 12S 72 IP67 in the fitting state 105 E EP i Preamplifier 94 Dimension from the bottom of installation ring to the bottom of mag netic drum Unit mm MDS EM Series Specifications Manual 5 Dedicated Options lt Explanation of connectors gt Connector name Application gt CN1 1 For connection with scale main head CN1 2 For connection with scale sub head 2 For connection with spindle drive unit CN3 For connection with motor thermistor lt Connector pin layout gt CN2 lt Drive unit gt CN3 lt Thermistor gt PinNo Function PinNo Function 1 1 2 2 3 SD 3 MT1 i 4 SD 4 5 SHD 5 S 6 MT1 6 7 RQ 7 8 RQ 8 9 P5 9 MT2 i 10 LG 10 11 MT2 11 12 ONT 12 7 95 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 5 2 4 Spindle Side Accuracy Serial Output Encoder ERM280 MPCI Series Other Manufacturer s Product C axis control encoder is used in order to perform an accurate C axis control Minimum detection Tolerable maximum Manufacturer Encoder type Interface unit type resolution speed EIB192M C4 1200 0 0000183 280 1200 20000 HEIDENHAIN d EIB392M C4 1200 19 660 800p rev DE CORPORATION EIB192M C6 2048 0 0000107 ERM280 2048 EIE3
91. C product Example according to IEC EN60204 1 UL508C O00 rr Temindname TET TET CN31L M S CN22 Unit type L1 L2 L3 U V W U V W PE VDD SG mm AWG mm mm mm AWG mm AWG MDS EM SPV3 10040 i 8 8 2 14 MDS EM SPV3 10080 8 8 Drive unit MDS EM SPV3 16080 14 6 3 5 12 2 14 MDS EM SPV3 20080 14 6 22 4 MDS EM SPV3 200120 22 4 55 10 IB 1501238 A 114 MDS EM Series Specifications Manual 6 Specifications of Peripheral Devices 3 600V bridge polyethylene insulated wire IC 105 C product Example according to JEAC8001 erminal name TET TET CN31L M S CN22 Unit type L1 L2 L3 U V W U V W PE VDD SG mm AWG mm mm mm AWG mm AWG MDS EM SPV3 10040 EE 5 5 10 MDS EM SPV3 10080 i 55 10 u Drive unit MDS EM SPV3 16080 8 8 2 14 MDS EM SPV3 20080 8 8 14 6 MDS EM SPV3 200120 14 6 35 12 N CAUTION 296 or less 3 Always wire the grounding wire 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 1 Selection conditions follow IEC EN60204 1 UL508C JEAC8001 Ambient temperature is maximum 40 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 115
92. CT TIANJIN 300061 CHINA TEL 86 22 2813 1015 FAX 86 22 2813 1017 China Shenyang Service Satellite China Changchun Service Satellite China Chengdu Service Center ROOM 407 408 OFFICE TOWER AT SHANGRI LA CENTER NO 9 BINJIANG DONG ROAD JINJIANG DISTRICT CHENGDU SICHUAN 610021 CHINA TEL 86 28 8446 8030 FAX 86 28 8446 8630 China Shenzhen Service Center ROOM 2512 2516 25 F GREAT CHINA INTERNATIONAL EXCHANGE SQUARE JINTIAN RD S FUTIAN DISTRICT SHENZHEN 518034 CHINA TEL 86 755 2399 8272 FAX 86 755 8218 4776 China Xiamen Service Dealer China Dongguan Service Dealer MITSUBISHI ELECTRIC AUTOMATION KOREA CO LTD KOREA FA CENTER Korea Service Center 8F Gangseo Hangang Xi tower 401 Yangcheon ro Gangseo gu Seoul 157 801 KOREA TEL 82 2 3660 9602 FAX 82 2 3664 8668 Korea Taegu Service Satellite 4F KT BUILDING 1630 SANGYEOK DONG BUK KU DAEGU 702 835 KOREA TEL 82 53 382 7400 FAX 82 53 382 7411 TAIWAN MITSUBISHI ELECTRIC TAIWAN CO LTD TAIWAN FA CENTER Taiwan Taichung Service Center Central Area NO 8 1 INDUSTRIAL 16TH RD TAICHUNG INDUSTRIAL PARK SITUN DIST TAICHUNG CITY 40768 TAIWAN R O C TEL 886 4 2359 0688 FAX 886 4 2359 0689 Taiwan Taipei Service Center North Area 10F NO 88 SEC 6 CHUNG SHAN RD SHI LIN DIST TAIPEI CITY 11155 TAIWAN R O C TEL 886 2 2833 5430 FAX 886 2 2833 5433 Taiwan Tainan Service Center South Area 11F 1 NO 30
93. Changes for the Better MITSUBISHI ELECTRIC MITSUBISHI CNC Specifications Manual EM Series IB 1501238 ENG A 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 Z DANGER
94. Compatible MDS EM SPV3 200120 10040 80 ep 200120 10040 xxx80 drive unit type 200120 Rated output kW 3 5 1 2 2 2 3 0 4 5 1 4 3 0 Rated current 13 8 5 2 9 0 10 7 13 4 3 9 10 9 Continuous Rated torque N m 111 57 10 5 143 143 67 143 characteristics Stall current A 28 0 6 4 10 2 15 8 34 0 6 4 10 9 Stall torque N m 22 5 7 0 12 0 22 5 37 2 11 0 20 0 Power facility capacity KVA 6 4 2 3 4 1 5 5 8 1 2 7 5 5 Rated rotation speed r min 3000 2000 3000 2000 Maximum rotation speed r min 4000 3000 3500 2000 Maximum current A 79 6 16 5 29 0 48 0 79 6 155 29 0 Maximum torque N m 75 0 17 0 32 0 64 0 90 0 26 5 50 0 Power rate at continuous rated torque kW s 16 5 27 3 46 5 27 3 18 3 25 2 27 3 Motor inertia kg cm2 75 0 11 9 23 7 75 0 112 0 17 8 75 0 Motor inertia with brake kg cm 84 7 14 1 25 9 84 7 121 7 20 0 84 7 T p T i High speed high accuracy machine 3 times or less of motor inertia Maximum motor shaft conversion load inertia abun Me i General machine tool interpolation axis 5 times or less of motor inertia 1213 General machine non interpolation axis 7 times less of motor inertia Motor Resolution per motor revolution D51 4 194 304 pulse rev D48 1 048 576 pulse rev Degree of protection IP67 The shaft through portion is excluded Operation 0 to 40 C with no freezing ANNs To 15 C to d with no Ambient humidity Operation 80 RH or less with no dew condensation Storag
95. Control function 5 5 2 Motor brake control function Sequence 5 4 Specified speed output function 5 5 Quick READY ON sequence 6 1 Monitor output function e eren Machine resonance frequency display e function unetion 6 3 Machine inertia display function e e e e Note 1 4 5 SLS Safely Limited Speed function is set on NC side 31 IB 1501238 A MDS EM Series Specifications Manual 3 Function Specifications lt Spindle specifications gt Item MDS E SP MDS EH SP MDS EM SPV3 MDS E SP2 Software version 1 Base control functions 1 1 Full closed loop control 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 e 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 11 Control loop gain changeover 2 12 Spindle output stabilizing control 2 13 High response spindle acceleration deceleration function e
96. HI device 1 2 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 000596 Cd cadmium 0 002926 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 169 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 Machinery with battery and maintenance battery produced before the EU Battery Directive are also subjected
97. Limited http www 3m com J S T Mfg Co Ltd http Awww jst mfg com index_e php DDK Ltd https 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 109 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 5 4 3 Optical Communication Cable Specifications 1 Specifications Cable model J396 L O M J395 L O M G380 L O M Specification application For wiring inside panel For wiring outside panel For wiring outside panel For long distance wiring Cable length 0 3 0 5 1 0 2 0 3 0 5 0m 1 2 8 5 7 10m 5 0 10 12 15 20 25 30m Minimum bend Enforced covering cable 50mm 25mm radius cord 30mm 980N Tension strength 140 Enforced covering cable Temperature range for use 40 to 85 C 20 to 70 C Note1 Ambient Indoors no direct sunlight No solvent or oil Cable a appearance 3 Optical mm communication O O cable k 4 4 0 1 Protection tube 6 7 e rj Connector ue 37 65 b ek N 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 OPT1A OPT1B connector of drive unit or the end of cable When the light gets into eye you may feel
98. MDS EM Series Specifications Manual 6 Specifications of Peripheral Devices 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 unit Unit Earth leakage current Maximum samisakdge current MDS EM SPV3 Series 9mA 21mA Note1 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 7 POINT 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
99. Motor Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect Flange size mm Servo motor capacity 1501506 100W 250 250 6 200 to 400W 250x250x12 0 5 to 1 5kW 300x300x20 2 0 to 7 0kW 800 800 35 9 0 to 11 0kW 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 V022 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 lt HG Series gt HG75 under development 10000 0 When stopped When rotating 1000 0 100 0 10 0 1 0 0 1 100 200 300 400 500 600 700 Motor current value stall rated current value ratio 10000 0 amp E E When stopped When rotating 1000 0 100 0 e 2 E 1 0 0 1 100 200 300 400 500 600 700 Motor current value stall rated current value ratio 57 HG105 under development HG104 10000 0 When stopped When rotating 1000 0 100 0 L 2 E E 400 1 0 0 1 100 200 300 400 500 600 700 Motor cur
100. 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 4 Amount of deceleration torque Kinetic friction torque Static 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 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 lt 1 gt when the kinetic friction does not change according to movement direction 6 Kinetic friction torque The signs are reversed with period lt 2 gt when the kinetic friction does not change according to movement direction 7 8 Amount of deceleration torque Kinetic friction torque Static friction torque 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 The signs are reversed with period lt 3 gt when the kinetic friction does not change according to m
101. SE 1024 Unit mm Gasket 18 26 0 12 11 44 18UNEF 2B Manufacturer DDK Type Connector MS3106A20 29S D190 Unit mm 19 4 18UNEF 2A screw Manufacturer DDK Type E Straight back shell CE02 20BS S s T85 ormare 315 Spanner grip effective screw length Unit mm 50 5 or less 39 6 or less 11 4 18UNEF 2B screw Manufacturer DDK lt Type gt Angle back shell CE 20BA S 49 6 5 or more 134 18UNEF 2Ascrew Unit mm 41 3 23 8 gt 10 3 13 4 18UNEF 2B screw S wu Manufacturer DDK lt Type gt Cable clamp CE3057 12A 3 5 c T 5 Moveable range of one side 161 IB 1501238 A MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications IB 1501238 A 162 Appendix 2 Restrictions for Lithium Batteries MDS EM Series Specifications Manual Appendix 2 Restrictions for Lithium Batteries 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 con
102. SEC 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 HA Japanese AMIS LRA VDA SHIRA CT WEEDE OAD CEEL C E BRUUEUES Handling of our product English user may be required to take adequate measures xod 419 de This is a class A product In a domestic environment this product may cause radio interference in which case the A 7p8319 4 Fol zo Ag Fels AAPA bz BA EE ARE el 39 Korean dae Az Bry 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 requir
103. 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 safety 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 IB 1501238 A 50 MDS EM Series Specifications Manual 3 Function Specifications 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 and spindle adjustment data required for setting the servo and spindle parameters to match the machine can be D A output Measure using a high speed waveform recorder oscilloscope etc D A output specifications
104. Storage 13000 meters or less above sea level 10000 meters or less above sea level Vibration impact According to each unit or motor specification Note 1 For details confirm each unit or motor specifications in addition Note 2 15 C to 55 C for linear servo motor A e BP BP BP 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 56 C 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
105. TION Dangerous Goods Regulations must be taken Refer to Appendix 2 Restrictions for Lithium Batteries 1 When transporting lithium batteries with means such as by air transport measures corresponding to the United Nations 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 To protect the absolute value do not shut off the servo drive unit control power supply if the battery voltage becomes low warning 9F Contact the Service Center when replacing the battery The battery life backup time is greatly affected by the working ambient temperature Generally if the ambient temperature increases the backup time and useful life will both decrease IB 1501238 A 70 MDS EM Series Specifications Manual 5 Dedicated Options 1 Cell battery MR BAT6V1SET a Specifications Cell battery Battery option type MR BAT6V1SET Note 1 Battery model name 2CR17335A Nominal voltage 6V Nomi
106. aft conversion load inertia Jm Motor inertia n Drive system efficiency Normally 0 8 to 0 95 TL Motor shaft conversion load friction unbalance torque Nem Motor speed NC command Motor actual speed r min 1 ae Nm 0 ta tattb Speed most required Motor Times Motor for the motor torque S torque acceleration i 1 1 1 1 1 1 1 1 1 1 1 TL 1 I 0 0 tb ta ta tb Nm N Time ms Motor speed r min Fig 3 Speed acceleration and torque characteristic when using the NC command soft acceleration deceleration pattern feed forward control IB 1501238 A 130 MDS EM Series Specifications Manual 7 Selection 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 maximum torque 100 Required maximum torque Ta 1 Required maximum torque occurrence speed Nm 80 So L High speed rotation range torque characteristic E 60 Z 3 Short time operation range P 0 20 Continuous operation range 0 0 2000 4000 Rotation speed r min Motor torque characteristics If they are not in the short time operation range return to the item b to d and make the
107. ake 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 Awww dtsc ca gov hazardouswaste perchlorate IB 1501238 A 168 MDS EM Series Specifications Manual Appendix 2 Restrictions for Lithium Batteries 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 MITSUBIS
108. ameter MPI1 2 Orientation function SP227 bitF C 4 Proximity switch signal signa 2 CNOA 13 Reservation MPI3 CN9B 3 External emergency stop signal SP032 bit7 0 59 MPO2 CN9B 18 Coil changeover signal Spindle output signal MPO3 CN9B 16 Spindle specified speed signal SP229 bitC 1 MPO6 CN9A 16 Contactor control signal Input output signal CN9A CN9B connector _ PnNoO CN A A3 3 CNSS 2 Proximity switch Safety SP p 3 EXEMG Input signal 13 Retract MPI1 DOOR Safety SV BT BOX 20 DICOM DICOM 8 SV specified speed MBR 10 24G 24G Output signal 15 SBC 16 MC SP specified speed 18 Coil changeover IB 1501238 A 122 MDS EM Series Specifications Manual 6 Specifications of Peripheral Devices 6 7 Selection of Link Bar 6 7 1 Wire Size for L11 and L21 Link Bar Regardless of the drive unit capacities the wire size must be IV2SQ or more When using a conductor bar the conductor cross sectional area must be 1mm or more The wire size between the circuit protector and L11 L21 must also be IV2SQ or more 6 7 2 Wire Size for L and L Link Bar Select as shown below based on the current value that actually flows to the link bar In this section the case when two servo drive units and one spindle drive unit are connected to MDS EM SPV3 is explained The same selection methods apply in all other cases E V2 E V1 E SP EM SPV3 L L L
109. and confirm that the calculated value is less than the continuous rating output of the selected spindle motor m amp rg Motor speed P1 P7 Accelera Decelera tion tion Motor 0 torque Decelera Accelera Stop Time tion tion P6 Output during acceleration deceleration KW Cutting Actual acceleration deceleration output kW Actual acceleration deceleration output kW is t1 t2 t6 p lt t7 pa t8 gt 1 2 fold of Standard output kW during acceleration deceleration or la to 1 2 fold of Short time rated output KW Continuous operation pattern example Bs P1 t1 P2 t p3 PA M4 P5 tb P6 t6 P7 t7 8 18 10 P1toP8 Output t1 to t8 Time to One cycle operation time Continuous rated output One cycle operation pattern average output Pav POINT 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 cons
110. andard output during acceleration deceleration or 1 2 fold MDS EM Series Specifications Manual 2 Specifications lt SJ DG Series High output specifications gt SJ DG3 7 120 03T SJ DG5 5 120 04T SJ DG7 5 120 05T 1 1 1 30 minute rating 1 15 minute rating AA EEN A 5 a 122 B a 15 5 30 minute rating 8 6 8 0 0 0 0 1500 7000 10000 12000 0 1500 5500 7000 12000 0 1500 5500 8000 12000 Rotation speed r min Rotation speed r min Rotation speed r min SJ DG11 100 03T Output kW 0 0 1500 4500 6000 10000 Rotation speed r min Note Actual acceleration deceleration output is 1 2 fold of Standard output during acceleration deceleration or 1 2 fold of Short time rated output 21 IB 1501238 A MDS EM Series Specifications Manual 2 Specifications lt SJ DJ Series Compact amp lightweight gt SJ DJ5 5 100 01 SJ DJ5 5 120 01 SJ DJ7 5 100 01 8 0 8 0 r 8 0 6 0 6 0 6 0 Z 2 4 83 3 24 8 20 2 0 2 0 0 0 0 1500 2000 4500 10000 0 1500 2000 4500 12000 0 1500 2000 4500 10000 Rotation speed r min Rotation speed r min Rotation speed r min SJ DJ7 5 120 01 SJ DJ11 100 01 SJ DJ15 80 01 8 0 6 0 a 2 5 5 5 2 0 0 0 1500 2000 4500 12000 0 15002000 4500 10000 0 1500 2000 4000 8000 Rotation speed r min Rotation speed r min Rotation speed r min lt SJ DL Series Low inertia gt SJ
111. as the diameter of the gear decreases This 3 When directly installing the pulley on the motor shaft carefully consider so that the radial load double the tension 4 In machines where thrust loads such as a worm gear are applied carefully consider providing separate bearings etc on 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 Measurement Flange size mm point Less than 100 SQ 100 SQ 130 SQ 176 SQ 250 SQ 280 SQ or over Run out of the flange surface to 4 0 05mm 0 06mm 0 08mm 0 08mm the output shaft Fiun out or the flange surtace s b 0 04mm 0 04mm 0 06mm 0 08mm fitting outer diameter Run out of the output shaft end 0 02 0 02 0 08mm 0 08mm 55 IB 1501238 A MDS EM Series Specifications Manual 4 Characteristics 4 1 5 Oil Water Standards 1 The motor protective format uses the IP type which complies with IEC Standard Refer to the section 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 resistan
112. ations 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 lt Features gt 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 CNC X Mi axis Speed Current control control 77 Encoder sation J Compen Same position command Secondary axis 1 t H iti Speed Current control control Encoder 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
113. bserve the axis feed rate so that it will not exceed the safety speed If it exceeds the set safety speed emergency stop occurs and the power is shut OFF NC CPU Speed observation FB speed observation Speed observation 3 4 6 Fan Stop Detection The rotation of the radiation fin cooling fan is observed and when the fan stops rotating for a breakdown of the fan or an external factor warning is detected The system will not be stopped Before sudden system down by the power module overheat inspection and replacement of the fan are prompted observation 3 4 7 Open phase Detection Disconnection of a phase of the 3 phase input power is detected The occurrence of abnormal operation will be avoided by open phase detection because open phase does not cause a power failure however abnormal operation will occur when the motor load becomes large 3 4 8 Contactor Weld Detection It detects that a contact of the external contactor is welding and cannot be opened IB 1501238 A Position speed command Drive CPU Servo control 46 Curent Motor encoder command d A Speed F B Ai MDS EM Series Specifications Manual 3 Function Specifications 3 4 9 STO Safe Torque Off Function STO Safe Torque Off function is a shutoff function which stops the supply of energy to the motor capable of generating torque It shuts off an energy supply electronically inside the drive unit It is an uncontrolled stop
114. 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 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 OPT1A 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 A Minimum bend radius 2 For wiring inside panel 25mm 2 For wiring outside panel 50mm 2 isa 181 wall oe e fi 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
115. cations 2 3 2 Multi Axis Integrated Drive Unit 1 Multi axis integrated drive unit Multi axis integrated drive unit MDS EM SPV Series Drive unit type SPV3 MDS EM 10040 10080 16080 20080 200120 Nominal maximum current at peak of spindle section A 100 100 160 200 200 Nominal maximum current at peak of servo section A 40x3 80x3 120x3 Rated voltage V AC170 Output peur T 26 26 37 48 48 Rated current servo A 10 9x3 16x3 28x3 Rated voltage V AC200 to 240 Tolerable fluctuation between 10 and 15 Input Frequency Hz 50 60 Tolerable fluctuation between 5 and 5 Rated current A 36 38 48 60 65 Voltage V DC24 10 Control Maximum current A 4 0 power Maximum rush current A 10 Maximum rush conductivity time ms 100 Earth leakage current mA 9 Max 21 Details Spindle 6 Max 15 Servo per one axis 1 Max 2 Control method Sine wave PWM control method Regenerative braking and dynamic brakes only regenerative braking for spindle Brakin 9 Dynamic brakes Built in External analog output 0 to 5V 2ch data for various adjustments Degree of protection IP20 Exluding terminal block Cooling method Forced air cooling
116. cifications Series type TS5690N64xx TS5690N12xx TS5690N25xx xx Theendofthetype i5 55 4o 20 20 40 60 Sensor name Lenath of lead 400 800 1200 1600 2000 400 800 1200 1600 2000 400 800 1200 1600 2000 ength of lead mm 10 20 20 30 30 10 20 20 30 30 10 20 20 30 30 Type MU1606N601 MU1606N709 MU1606N805 The number of teeth 64 128 256 Detection Outer diameter mm 052 8 0104 0 206 4 gear Inner diameter mm 40 5 80 5 140 5 Thickness mm 12 12 14 Shrink fitting mm 0 020 to 0 040 0 030 to 0 055 0 050 to 0 085 Notched Outer diameter mm 072 0 0122 0 0223 6 Quterdiameter 0 010 to 0 060 0 025 to 0 025 0 025 to 0 025 section tolerance mm number A B phase 64 128 256 of output pulse 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 N CAUTION 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 IB 1501238 A 88 MDS EM Series Specifications Manual 5 Dedicated Options 3 Outline dimension drawings
117. culated in 7 3 2 1 3 Calculation of rated output required for power supply Rated capacity required for power supply X Spindle rated output required for power supply 0 3 X servo motor rated output required for power supply Substitute the output calculated from the item 1 and 2 to the above expression and calculate the rated capacity required for the power supply 4 Calculation of required power supply Power supply capacity kVA Required rated capacity calculated in the item 3 kW Rated capacity of MDS EM SPV3 20kW x Power supply capacity base value of MDS EM SPV3 29kVA The rated capacity of MDS EM SPV3 is 20kW and power supply capacity base value is 29kVA 141 IB 1501238 A MDS EM Series Specifications Manual 7 Selection 7 3 5 Example for Additional Axis Drive Unit and Power Supply Facility Capacity lt MDS E Series gt Example 1 xis name otor rive unl ated outpu aximum momentary X axis HG204 2 0kW 8 0kW Y axis HG204 MDS EM SPV3 200120 2 0KW 8 0kW Z axis HG354 3 5kW T8kW MDS E V1 40 MG axis HG104 Addiction 1 0kW 5 0kW Spindle m MDS EM SPV3 200120 15kW 18kW 0 3x 2 042 043 541 0 15 8 0 8 0 18 5 0 18 Total 17 55kW lt 20kW EM SPV3 Required power supply capacity kVA 17 55 20 x29 25 5 kVA 57kW lt 70kW EM SPV3 Example 2 xis name otor rive uni ated outpu aximum m
118. cy 400kHz Output signal Mitsubishi high speed serial signal MITSUO2 4 Interpolation division number Maximum 16384 divisions Compatible encoder LS187 LS487 ERM280 1200 ERM280 2048 Minimum detection resolution 0 0012 1 Working temperature 0 C to 70 C Degree of protection IP65 Mass 300g 3 Outline dimension drawings Note Two fixing screws M4x16 DIN 912 ISO 4762 Unit mm N CAUTION These are other manufacturer s products When purchasing these products refer to the manufacturer s information materials for the product specifications IB 1501238 A 100 MDS EM Series Specifications Manual 5 Dedicated Options 5 3 3 Serial Output Interface Unit for ABZ Analog Encoder EIB392M Other Manufacturer s Product 1 Appearance 2 Specifications Type EIB392M A4 20um EIB392M C4 1200 EIB392M C4 2048 Manufacturer HEIDENHAIN CORPORATION Input signal A phase B phase SIN wave 1Vpp Z phase Maximum input frequency 400kHz Output signal Mitsubishi high speed serial signal MITSUO2 4 Interpolation division number Maximum 16384 divisions Compatible encoder LS187 LS487 ERM280 1200 ERM280 2048 Minimum detection resolution 0 0012 1 480 Working temperature 0 C to 70 C Degree of protection IP40 Mass 140g 3 Outline dimension drawings e Ni 2 Unit mm N CAUTION These are other manufacturer s products When purcha
119. d c Outline dimension drawings Unit mm 80 _ 40 _ m o N N Packing Square hole o a 4 M4 Flat head screw Tightening torque 1 0Nm Panel cut drawing Connection terminal block 3 6V 103 Teg oul Connection connector 6 0V X POINT As soon as the battery warning 9F 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 A CAUTION 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 IB 1501238 A 72 MDS EM Series Specifications Manual 5 Dedicated Options d When backing up for more than 8 axes Add a MDSBTBOX LR2060 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 MDSBTBOX LR2060 start the control powers ON simultaneously N CAUTION 1 The drive unit which is connected to the battery box and cell battery cannot be used together 2 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 3 Replace the batteries while applying the control power of all drive units which are connected to the battery box 4 Battery
120. de and steep within a wide band iL Conventional control can t perform enough compensation Y HH Y HHH H A X lI Conventional compensation control Lost motion compensation control type 3 43 IB 1501238 A MDS EM Series Specifications Manual 3 Function Specifications 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 W Without compensation With compensation Acceleration Acceleration El Without compensation With compensation 250 Deceleration Dece
121. drive unit Connector for CN2 Unit mm lt 22 7 gt l Manufacturer 3M Type 2 1 F Receptacle 36210 0100PL D Shell kit 36310 3200 008 Manufacturer MOLEX V Type 224 54599 1019 lt gt KT NS nw 10 Connector for CN9A CN9B Unit mm Manufacturer 3M Type Connector 10120 3000VE f Shell kit 10320 52F0 008 9 S I TH 333 Unit mm Manufacturer 3M Type Connector 10120 6000EL Shell kit 10320 3210 000 Compatible part Note 1 J S T Connector MS P20 L Shell kit MS20 2B 28 B 2 N Y 0 eo e 0 9 ke Note 1 for more information The names of compatible parts may be changed at the manufacturer s discretion Contact each manufacturer 155 IB 1501238 A MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications Power Connector Drive unit power Connector for CN31L M S Unit mm em Manufacturer J S T o ju Type 3 NEG NONE Connector 03JFAT SAFGDK P15 All axis rity Lo 03JFAT SAXGDK P15 L axis only 15 20 03JFAT SAYGDK P15 M axis only 03JFAT SAZGDK P15 S axis only 27 1 Connector fitting Li
122. e 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 20 C 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 Aleakage 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 IB 1501238 A 60 MDS EM Series Specifications Manual 4 Characteristics 3 Magnetic brake power supply CAUTION 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 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
123. e TS5690 ERM280 Proximit control item encoder MPCI MBE405W OSE 1024 2 y switch Series Normal cutting control Spindle Constant surface speed control control lathe Note 2 Note 2 Thread cutting lathe X 1 point orientation control e Note 4 Orientation Multi point orientation 7 control control Orientation indexing X e o X Standard synchronous Synchronous tap Note 3 Note 3 tap control Synchronous tap after zero point return Spindle phase alignment Note 2 e Note 2 synchronous n lt t With phase alignmen control f nctlon X C axis control C axis control x e X x 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 c 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 85 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 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 gea
124. e 90 RH or less with no dew condensation Atmosphere Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust Environment Altitude Operation 1000 meters or less above sea level Storage 10000 meters or less above sea level X 24 5m s X 24 5m s Vibration 229 X Y 24 5m s 2 59 X Y 24 5m s 8 Y 29 4m s Y 29 4m s 3G 2 5G Y 29 4m s 3G 3G Flange size mm 176 SQ 130 SQ 130 SQ 176 SQ 176 SQ 130 SQ 176 SQ Total length excluding shaft mm Note 3 183 5 140 5 184 5 183 5 223 5 162 5 183 5 Flange fitting diameter mm 0114 3 110 110 114 3 114 3 110 0114 3 Shaft diameter mm 035 624 24 35 35 024 35 19 0 10 0 19 0 26 0 19 0 Mass Without with brake kg 250 6 5 8 5 12 0 250 32 0 8 3 10 3 250 Heat resistant class 155 Note 1 values when combined with the drive unit Note 2 Note 3 designated combination The total length will be 3 5mm longer when using an D51 encoder Only the combination designated in this manual can be used for the motor and drive unit Always use the The above characteristics values are representative values The maximum current and maximum torque are the For outline dimension drawings refer to DRIVE SYSTEM DATA BOOK IB 1501252 ENG IB 1501238 A MDS EM Series Specifications Manual 2 Specifications 2 1 2 Torque Characteristics lt HG Series gt HG75 under development
125. e Electric RM15WTPZ 12P 72 IP67 in the fitting state outer diameter 22 Connector Cable length 1200 Main head IP67 8 3 4 hole 21 5 evenly spaced around 90 circumference Drum installation hole 20 4405 5 6 Installation ring venly spaced around 124 circumference a Installation ring hole 2 PA 5 40 2 Installation ring 9 5 Dimension from the bottom of installation ring to the 3 bottom of magnetic drum Magnetic drum wo 5 oo 44 5 E 2 M5 pulling tap q around 124 circumference Magnetic drum i Z phase signal position mark Magnetic drum centering track Unit mm 23 5 8 04 5 hole evenly spaced around 134 circumference Drum installation hole 4 5 5 evenly spaced around 174 circumference Installation ring hole Installation ring us ad Magnetic drum Distance between drum and sensor h M N 2 M5 pulling tap around 174 circumference Installation ring Magnetic drum SLT Z phase signal position mark Magnetic drum centering track Sub head IP67 93 11 5 0 2 Dimension from the bottom of installation ring to the bottom of magnetic drum wo 5 o o e SS IB 1501238 A MDS EM Series Specifications Ma
126. e Flexibility diameter tion resistor voltage resistance product temperature BD20288 2 100 strands 40 70 km Compound 6 pair Heat 0 5mm 0 08 or less ie 1000 70 10 8 7mm resistant 309V 105 C Umes Specification No 4 AO strands 1030 1 ornore or more at Bangishi 17145 0 2mm 0 08mm or less R200 Note 1 b General purpose heat resistant specifications cable Wire type Wire characteristics Finish other Sheath No of r 3 Heat outer Configura Conductive Withstand Insulation RE manufacturer s material pairs z 2 resistance Flexibility diameter tion resistor voltage resistance product temperature BD20032 j 2 100 strands 40 70 Compound 6 pair 0 5mm 0 08mm or less ioo shielded cable 500VAC 1000 ti Specification No 8 7mm PVC imin MQ km 60 C Imes Bangishi 16903 B 40 strands 103Q km or more or more at Revision No 3 0 2mm 0 08mm or less R200 Note 2 Note 1 BANDO Electric Wire http www bew co jp Note 2 The Mitsubishi standard cable is the a Heat resistant specifications cable When the working environment temperature is low and so higher flexibility is required use the b General purpose heat resistant specifications cable Compound 6 pair cable structure drawing Sheath Mesh shield Intervening wire Cable core Tape L1 L2 Conductor Insulator Core identification Insulator color Pair No LI L2 A1 0
127. e aang oy 30 minute rating 30 minute rating 30 minute rating capacity Standard output during 55 75 9 acceleration deceleration kW Actual acceleration deceleration output kW oe 108 Power facility capacity kVA 9 9 13 4 16 1 Base rotation speed r min 750 750 750 Maximum rotation speed r min 6000 6000 6000 Frame No B112 A160 A160 Continuous rated torque N m 471 70 0 95 5 GD kg m 0 12 0 23 0 23 Inertia kg m 0 03 0 06 0 06 Tolerable radial load N 1960 2940 2940 Input voltage 3 phase 200V 3 phase 200V 3 phase200V Cooling fan Maximum power 40W 63W 63W consumption Ambient temperature Operation 0 to 40 C with no freezing Storage 20 C to 65 C with no freezing Ambient humidity Operation 90 RH or less with no dew condensation Storage 90 RH or less with no dew Environment condensation Atmosphere Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust 3 Operation 1000 meters or less above sea level Storage 1000 meters or less above sea level Altitude ion Transportation 10000 meters or less above sea level Degree of protection IP44 Flange size mm 204 SQ 250 SQ 250 SQ Total length excluding shaft mm 490 469 5 469 5 Flange fitting diameter mm 180 230 230 Shaft diameter mm 048 048 048 Mass kg 70 110 110 Heat resistant class 155 F Note 1 The tolerable radial load is the value calculated at
128. e applied on the motor shaft Make sure that the load applied on the radial direction and thrust direction when mounted on the machine is below the tolerable values given below These loads may affect the motor output torque so consider them when designing the machine Servo motor Tolerable radial load Tolerable thrust load HG54T 104T 154T 224T 123T 223T 142T Taper shaft 392N L 58 490N HG54S 1045 1545 2245 1235 2235 1425 Straight shaft 980 1 55 490N HG204S 3545 3035 4535 3025 Straight shaft 2058N 1 79 980N Note 1 independently Note 2 L q The symbol L in the table refers to the value of L below load d EM ja Thrust load L Length from flange installation surface to center of load mass mm The tolerable radial load and thrust load in the above table are values applied when each motor is used N CAUTION radial load of the shaft should be carefully considered when designing the machine generated from the timing belt tension is less than the values shown in the table above the machine side so that loads exceeding the tolerable thrust loads are not applied to the motor 1 Use a flexible coupling when connecting with a ball screw etc and keep the shaft core deviation to below the tolerable 2 When directly installing the gear on the motor shaft the radial load increases
129. e surface to the output shaft a 0 03mm 0 05mm Run out of the flange surface s fitting outer diameter b 0 02mm 0 04mm Run out of the output shaft end 0 01mm 0 02mm 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 Up Down Standard installation direction for connector connection type 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 N CAUTION 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 Cooling fan 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 a
130. e 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 IB 1501238 A 120 MDS EM Series Specifications Manual 6 Specifications of Peripheral Devices 6 6 Relay CN9A CNSB connector is equipped with 24V input output circuit for the control of external devices and the control by an external signal Set the relevant parameters and use them with care for the wiring since some signals are changeover type which can be switched over by parameters Refer to the description of each function in relevant sections for details on the function specifications and settings Connector Input condition Connector Output condition 18VDC to 25 2VDC R CN9A Switch ON A 3mAormore CN9A Output voltage 24VDC 5 CN9B CN9B Switch OFF 4VDC or less Tolerable output 50mAorl ss 2mA or less current lo For a switch or relay to be wired use a switch or relay that satisfies the input output voltage current conditions Selection example Interface name Use a minute signal switch which is stably contacted and operated even with low For digital input signal CN9A CN9B voltage or current lt Example gt OMRON G2A G6B type MY type LY type For digital output signal Use a compact relay operated with rating of 24VDC 50mA or less CN9A CN9B lt Example gt OMROM G6B type MY type Input circuit Output circuit CN9A connector CN
131. e 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 N CAUTION 3 Various precautions Observe the following precautions Incorrect handling of the unit could lead to faults injuries and electric shocks etc _ PPP p PPP PPEP p 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 moto
132. ed 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 General precautions The drawings given in this manual show the covers and safety partitions etc removed to provide a clearer explanation Always return the covers or partitions to their respective places before starting operation and always follow the instructions given in this manual Treatment of waste The following two laws will apply when disposing of this product Considerations must be made to each law The following laws are in effect in Japan Thus when using this product overseas the local laws will have a priority If necessary indicate or notify these laws to the final user of the product 1 Requirements for Law for Promotion of Effective Utilization of Resources a Recycle as much of this product as possible when finished with use b When recycling often parts are sorted into steel scraps and electric parts etc and sold to scrap contractors Mitsubishi recommends sorting the product and selling the members to appropriate contractors 2 Requirements for Law for Treatment of Waste and Cleaning a Mitsubishi recommends recycling and selling the product when no longer needed according to item 1 above
133. ed 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 customer s 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 user s 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 customer s hardware or software problem b a failure caused by any alteration etc to the product made by the custom
134. er without Mitsubishi Electric s approval c a failure which may be regarded as avoidable if the customer s 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
135. eset 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 D
136. f signal In use of linear scale Minimum resolution m 2 scale analog signal frequency m 512 In use of rotary encoder Minimum resolution pulse rev numbers of encoder scale 1 rev x 512 N CAUTION The above value does not guarantee the accuracy of the system 77 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 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 Output circuit Phase difference A B Z phase A phase 0 1 or more A B Z ph lt b phase 0 1us 2 Integer mm For a scale having multiple Z phases select the neighboring Z phases whose distance is an integral mm 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 lt Example of scale specifications gt 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 Manufacturer Encoder type Interface unit type sab
137. ft conversion load inertia x10 kg m JM Motor inertia x10 kg m n Drive system efficiency Normally 0 8 to 0 95 Tmax Maximum motor torque TL Motor shaft conversion load friction unbalance torque Nem Using the approximate linear acceleration deceleration time constant ta calculated above confirm the torque characteristics of the high speed rotation range in the CNC s command pattern or the servo s position control method 127 IB 1501238 A MDS EM Series Specifications Manual 7 Selection 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 Tai and maximum torque occurrence speed required for this acceleration deceleration pattern 1 05 x 10 x Ju Jw XN Kp xta 1 T x 1 e 1000 TL Nm 7 3 Kp X ti Nm Nx 1 1000 x 4 e1000 r min 7 4 Kp xta 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 x10 kg m JM Motor inertia x10 kg m n Drive system efficiency Normally 0 8 to 0 95 TL Motor shaft conversion load friction unbalance torque Nem Motor speed r min Motor actual speed Speed most required for the motor tor
138. function in accordance with IEC60204 1 Stop Category 0 STO function can be used in the following two ways 1 and 2 below which directly input the STO signal from the external device by using a network cable and CN8 connector 1 When using network STO function STO function shuts off the motor power by inputting the STO signal with a network cable Emergency stop input 2 Optical communi cz e Emergency stop input 1 Normal MC control A 3 95 2 When using dedicated wiring STO function This method is used to shut off the motor power with STO function only for the specific axis while operating the System Note Supported by MDS E EH and EJ EJH Series only Optical communication MDS E EH Series 2 STO signal is input from the CN8 connector 3 The STO function shuts off the power for only the magazine rack axis Drive unit Warning A4 sub number 0001 Shutoff 5 8 1 External door open Dual signal input J oor N TO1 STO2 signal Magazine rack axis 47 IB 1501238 A MDS EM Series Specifications Manual 3 Function Specifications 3 4 10 SBC Safe Brake Control Function SBC observes operation of the two motor brake control contacts prepared on the servo drive unit to enhance the reliability of the brake operation SBT Safe Brake Test function is also included in this function Refer to the function spec
139. h cables 24V stabilized power supply Note Prepared by user Encoder conversion unit MDS B HR 5 Servo encoder cable lt MDS B HR unit cable gt Linear scale cable for M S axis Note Prepared by user 5 Servo encoder cable lt Linear scale cable gt Note Prepared by user ABZ SIN wave signal output Mitsubishi serial signal output Servo encoder cable lt Linear scale cable for MDS B HR gt Note Prepared by user Linear scale for full closed loop control Note Prepared by user RA circuit for contactor drive Note Prepared by user 3 phase 200VAC power supply 55 Note Prepared by user col Circuit protector reactor Servo encoder cable Contactor Note Prepared by user Optical communication lt Motor side encoder cable gt Brake connector L SL A le z oat I TTE JS i
140. haracteristics IB 1501238 A MDS EM Series Specifications Manual 4 Characteristics 4 1 Servo Motor 4 1 1 Environmental Conditions Environment Conditions Ambient temperature 0 to 40 C with no freezing Ambient humidity 80 RH or less with no dew condensation Storage temperature 15 C to 70 C 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 4 1 2 Quakeproof Level Vibration amplitude Motor type Operation storage 1000m or less above sea level Transportation 10000m or less above sea level Acceleration direction Axis direction X Direction at right angle to axis Y double sway width um HG54 104 154 224 123 223 142 HG204 354 303 453 302 24 5m s 2 5G or less 24 5m s 2 5G or less The vibration conditions are as shown below 200 100 80 50r 40 30r 20r tu La 0 1000 2000 3000 Speed r min 1B 1501238 A 24 5m s 2 5G or less 29 4m s 3G or less Servo motor 54 Acceleration MDS EM Series Specifications Manual 4 Characteristics 4 1 3 Shaft Characteristics There is a limit to the load that can b
141. he axes Note 2 4 5 SLS Safely Limited Speed function is set on NC side IB 1501238 A 32 MDS EM Series Specifications Manual 3 Function Specifications 3 1 Base Control 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 Position Position Current Voltage command command command command Servo NC Table Current FB Speed FB mm n Position FB Linear scale Full closed loop control servo The ball screw side _ encoder is also applied Position Position Current Voltage command command command command Current FB V belt Speed FB Position FB Motor encoder Spindle Spindle encoder Full closed loop control spindle 33 IB 1501238 A MDS EM Series Specifications Manual 3 Function Specific
142. he 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 after the spindle is stopped 3 1 14 Power Regeneration Control This control enables the regeneration energy generated when the motor decelerates to return to the power supply This is an energy saving method because regeneration energy is hardly converted to heat 3 1 15 Resistor Regeneration Control This control enables the regeneration energy generated when the motor decelerates to convert to heat with regenerative resistance The drive system can be downsized because the regeneration capacity is also small in the motor of relatively small capacity Select a suitable regenerative resistance according to the load inertia motor operation speed etc IB 1501238 A 36 MDS EM Series Specifications Manual 3 Function Specifications 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 positioni
143. he 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 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 motor s acceleration deceleration differs according to the CNC s command pattern or the servo s 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 _ 1 05 x 10 x Jum Ju XN 0 8 X TMax TL ta ms 7 2 N Motor reach speed r min JL Motor sha
144. ht nt Atmosphere With no corrosive gas inflammable gas oil mist or dust Altitude Operation Storage 1000 meters or less above sea level Transportation 10000 meters or less above sea level Vibration impact 9 8m s 1G 98m s 10G Mass kg 5 8 N CAUTION D AL is used for MDS EM SPV3 Outline dimension drawing Unit mm Terminal screw 6 M6 x 16 Tightening torque 4 0Nm Terminal plate T 11 SS TU SER M5x 12 881 6 2 M4 ele lel e I with cover Nameplate H 2 N Grounding 4 M6 hole 20 Position Terminal assignment seal 175 Cover Cum m E i rt H rr PT DA u T serial number of manufacture J ofo ofo o T 5 Ya H EZ T i l To 9 553 15 L 10515 165 D AL 18 5K 27 IB 1501238 A MDS EM Series Specifications Manual 2 Specifications 2 3 5 Explanation of Each Part 1 Explanation of each multi axis integrated servo drive unit part 1 2 4 5 6 7 21 22 27 cy el MDS EM SPV3 24
145. i Electric Turkey Umraniye Subesi Turkey Service Center SERIFALI MAH NUTUK SOK NO 5 34775 MRANIYE ISTANBUL TURKEY TEL 90 216 526 3990 FAX 90 216 526 3995 Czech Republic Service Center KAFKOVA 1853 3 702 00 OSTRAVA 2 CZECH REPUBLIC TEL 420 59 5691 185 FAX 420 59 5691 199 Russia Service Center 213 BNOVODMITROVSKAYA STR 14 2 127015 MOSCOW RUSSIA TEL 7 495 748 0191 FAX 7 495 748 0192 MITSUBISHI ELECTRIC EUROPE B V SCANDINAVIA Sweden Service Center HAMMARBACKEN 14 191 49 SOLLENTUNA SWEDEN TEL 46 8 6251000 FAX 46 8 966877 Bulgaria Service Center 4 A LYAPCHEV BOUL 21 BG 1756 SOFIA BULGARIA TEL 359 2 8176009 FAX 359 2 9744061 Ukraine Kharkov Service Center APTEKARSKIY LANE 9 A OFFICE 3 61001 KHARKOV UKRAINE TEL 380 57 732 7774 FAX 380 57 731 8721 Ukraine Kiev Service Center 4 B M RASKOVOVYI STR 02660 KIEV UKRAINE TEL 380 44 494 3355 FAX 380 44 494 3366 Belarus Service Center OFFICE 9 NEZAVISIMOSTI PR 177 220125 MINSK BELARUS TEL 375 17 393 1177 FAX 375 17 393 0081 South Africa Service Center 5 ALBATROSS STREET RHODESFIELD KEMPTON PARK 1619 GAUTENG SOUTH AFRICA TEL 27 11 394 8512 FAX 27 11 394 8513 MITSUBISHI ELECTRIC ASIA PTE LTD ASEAN FA CENTER Singapore Service Center 307 ALEXANDRA ROAD 05 01 02 MITSUBISHI ELECTRIC BUILDING SINGAPORE 159943 TEL 65 6473 2308 FAX 65 6476 7439 Malaysia KL Service Center 60 JALAN
146. ia 0 5 x 10 kgm or less Mochanical Shaft friction torque 0 1Nm or less characteristics for _ Seaton Shaft angle acceleration 4 x 10 rad s or less Tolerable continuous rotation speed 4000r min 0 02mm or less position 15mm from end Tolerable load Mechanical thrust direction radial direction 9 8N 19 6N configuration Mass 0 6kg Degree of protection IP67 The shaft through portion is excluded Recommended coupling bellows coupling Working environment Ambient temperature 0 C to 55 C Storage temperature 20 C to 85 C Humidity 95 Ph Vibration resistance 5 to 50Hz total vibration width 1 5mm each shaft for 30min Impact resistance 490m s 50G N CAUTION If the tolerable rotation speed at power off is exceeded the absolute position cannot be repaired IB 1501238 A 74 MDS EM Series Specifications Manual 5 Dedicated Options 2 Outline dimension drawings OSA105ET2A 2 7 75 0020 DIA 70 DIA lt a D 8 72 ex E m Q 85 SQ 56 30 4 5 5 DIA 2 5 e H 10 CM10 R10P 24 Unit mm 3 Explanation of connectors Connector pin layout Pin Function Pin Function 1 RQ 6 SD
147. ifications Appendix 1 4 Connector Outline Dimension Drawings Appendix 1 4 1 Connector for Drive Unit Optical communication cable connector Optical communication connector Unit mm 6 7 15 13 4 6 7 RS For wiring between drive units Manufacturer Japan Aviation Electronics Industry Type Connector CF 2D103 S Unit mm For wiring between drive units Manufacturer Honda Tsushin Kogyo Type Connector LGP Z0007PK 34 6 Cable appearance Type a Connector LGP Z0007PK g E Honda Tsushin Kogyo Optical fiber PFDU CD1002 22E60VT Recommended Toray Industries Cable appearance LS0 1m Type Connector LGP Z0007PK Honda Tsushin Kogyo LZ 0 2m Optical fiber PFDU CD1002 22E60VT Recommended Toray Industries 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 3 Contact Honda Tsushin Kogyo Co Ltd http www htk jp com m default amp lang_cd 2 For wiring between NC and drive unit Refer to the instruction manual for CNC IB 1501238 A 154 MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications Connector for encoder cable Spindle
148. ifications of NC Optical Drive unit communication fai CN9B Brake control relay circuit 1B 1501238 A 48 MDS EM Series Specifications Manual 3 Function Specifications 3 4 11 Deceleration and Stop Function at Power Failure The deceleration and stop function at power failure is a function to safely decelerate the servo axes and the spindle when a power failure occurs This function prevents a damage on the machine due to an overrun of the servo axes and at the same time realizes a protection against overvoltage for high speed IPM spindle motors and high speed DDMs Outlined configuration of deceleration and stop function at power failure Drive unit is protected against overvoltage when an alarm of coasting to a stop occurs during driving high speed IPM spindle motor Note Supported by MDS E EH Series only NC Drive unit Drive unit Power supply unit Power backup unit Resistor unit MDS E EH Vx MDS E EH SP MDS E EH CV MDS D DH PFU R UNIT6 7 Optical T 2 gt x 7 i l Regeneration communication energy CN1A pe CN1A pe CN41 o consumed E CN41 1 CN4 R1 Serial R2 communication Ug oO Power failure o detected C3 C Lt L L L L11 L11 L21 A 21 Control power is supplied i from power backup unit eise L1 L2 L3 L2 L3 a z 2 AC power 6 supply 3 4 12 Retraction Functi
149. igh output specifications gt Spindle motor type Sv DG3 7 120 031 SJ DG5 5 20 04T SJ DG7 5 120 058T SJ DG11 100 03T _ empate eon unit 160xx 160xx 160xx 200xxx Continuous rating kW 22 3 7 5 5 7 5 Short time rating kW 5 5 25 ED rating 7 5 25 ED rating 11 0 25 ED rating 15 0 25 ED rating Output Standard output during capacity acceleration deceleration kW a s na 13 0 Actual acceleration deceleration output kW 6 6 132 18 0 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 12000 12000 12000 10000 Frame No B90 D90 A112 B112 Continuous rated torque N m 14 0 23 6 35 0 47 7 GD kg m 0 026 0 049 0 088 0 12 Motor inertia kg m7 0 0066 0 012 0 022 0 029 Tolerable radial load N 980 1470 1960 1960 Input voltage 3 phase 200V Cooling fan Maximum power 32W 32W 50W 50W consumption Ambient temperature Operation 0 to 40 C with no freezing Storage 20 C to 65 C with no freezing Ambient humidity Operation 90 RH or less with no dew condensation Storage 90 RH or less with no dew Environment congensation Atmosphere Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust Operation 1000 meters or less above sea level Storage 1000 meters or less above sea level Altitude ion Transportat
150. ing 11 5 0 2 a A ENN 3 SN Dimension from the bottom 5 c of installation ring to the t 5 s bottom of magnetic drum ec gs 3 28 2 5 Ex Magnetic drum 82 fa cg BE E 4 az SN _ Hes og e 2 5 2 5 pulling tap EN 6S around 174 circumference Eg Magnetic drum mJ S 2 ES Z phase signal position mark 35 i NG Y Magnetic drum Zs centering track Sub head IP67 IB 1501238 A 82 MDS EM Series Specifications Manual 5 Dedicated Options lt MBA405W BG160 gt Cable length 1200 Main head IP67 Hirose Electric RM15WTPZ 12P 72 IP67 in the fitting state outer diameter 22 Connector Distance between magnetic drum and sensor head Installation ring circular part 0 35 25 5 8 5 5 hole 24 evenly spaced around 170 circumference Drum installation hole 4 6 6 E 10 evenly spaced around 226 circumference Installation ring hole _ Installation ring Unit mm Installation ring 13 5 0 2 Magnetic drum lt Preamplifier common gt Hirose Electric RM15WTRZBK 12S 72 IP67 in the fitting state Sub head IP67 100 Z phase signal position mark 2 M5 pulling tap around 226 circumference Magnetic drum t Magnetic dr
151. ing Storage 20 C to 65 C with no freezing Operation 90 RH or less with no dew condensation Storage 90 RH or less with no dew condensation Atmosphere Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust Operation 1000 meters or less above sea level Storage 1000 meters or less above sea level Ambient humidity Environment Transportation 10000 meters or less above sea level Degree of protection IP54 The shaft through portion is excluded Flange size mm 174 SQ Total length excluding shaft mm 327 Flange fitting diameter mm 150 Shaft diameter mm 028 Mass kg 24 Heat resistant class 155 F 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 Note 4 For SJ D5 5 120 02T S output characteristics at acceleration deceleration vary depending on the connected drive unit Refer to output characteristics for details For outline dimension drawings refer to DRIVE SYSTEM DATA BOOK IB 1501252 ENG 13 IB 1501238 A MDS EM Series Specifications Manual 2 Specifications lt SJ DG Series H
152. ink bar 1 If the current which flows through the L and L bus bars of each drive unit is 11 to 14 as shown above the current that flows through each link bar Bar1 to Bar3 is the following equation 1 Thus the wire for each L L link bar should tolerate the above current Bart M I2 I Bar2 11 12 I3 ess I Bar3 11 12 13 14 L and L link bar size for each rated output current Rated output current 17A 30A 41 76 Wire size IV3 5SQ IV5 5SQ IV22SQ IV38SQ HIV3 5SQ HIV5 5SQ HIV14SQ HIV22SQ Conductor bar cross soeticnalared 5mm or more 8mm or more 11mm or more 19mm or more 123 IB 1501238 A MDS EM Series Specifications Manual 6 Specifications of Peripheral Devices 2 The 11 to 14 values are actually obtained with the following equation 2 11 to 14 Motor output current x 1 1 2 Note that the value of the following table a Compatible spindle drive unit capacity for spindle motor or b Compatible servo motor type for servo motor is substituted into Motor output current in the equation 2 a Compatible spindle drive unit capacity Spindle drive unit capacity Motor output current E SP 20 E SP 40 E SP 80 E SP 160 4 5A 10A 18A 37A b Compatible servo motor type Servo motor type HG75 HG105 HG54 HG104 HG154 HG224 HG204 HG354 Motor output 2 8A 3 6A 1 8A 3 6A 5 8A 8 5A 6 8A 13 8A current Servo motor type HG123 HG223 HG303 HG453 HG142 HG302 Moto
153. 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 1B 1501238 A 118 MDS EM Series Specifications Manual 6 Specifications of Peripheral Devices 6 4 Noise Filter 1 Selection Use an EMC noise filter if the noise conducted to the power line must be reduced Select an EMC noise filter taking the drive unit s input rated voltage and input rated current into consideration 2 Noise filter mounting position Install the noise filter to the drive unit s power input as the diagram below indicates Power distribution panel AC reactor Contactor Drive unit Note noise filter must be prepared by the user Recommended devices Soshin Electric HF3000C SZA Series Contact Soshin Electric Co Ltd http Awww soshin ele com Note above devices may be changed at the manufacturer s discretion Contact each manufacturer for more information 119 IB 1501238 A MDS EM Series Specifications Manual 6 Specifications of Peripheral Devices 6 5 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
154. ion 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 028 028 032 048 Mass kg 31 49 66 82 Heat resistant class 155 F 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 For outline dimension drawings refer to DRIVE SYSTEM DATA BOOK IB 1501252 ENG IB 1501238 A 14 MDS EM Series Specifications Manual 2 Specifications lt SJ DJ Series Compact amp lightweight gt SJ DJ5 5 SJ DJ5 5 SJ DJ7 5 SJ DJ7 5 SJ DJ11 SJ DJ15 D 100 01 120 01 100 01 120 01 100 01 80 01 Compatible drive unit type MDS EM SPV3 100xx 100xx 100xx 100xx 16080 200xx Continuous rating kW 3 7 3 7 5 5 5 5 7 5 11 15 7 5 7 5 11 i 8 5 5 5 5 i 15 minute tem Short time rating KW 25 ED rating 25 ED rating pou i ecd rating Em any 9 9 9 15 ED rating se Standard output during 55 55 75 75 11 15 accelera
155. is 5G or less Vertical direction to the axis 5G or less 1 2 Impact resistance 490m s 50G The values above are typical values after the calibration with our shipping test device and are not guaranteed The user is requested to install the magnetic drum and installation ring in the encoder within the accuracy range specified herein Even when the accuracy of the encoder when shipped and when installed by the user is both within the specified range there is a difference in the installation position Therefore the accuracy at the time of our shipment may not be acquired 3 Specifications of preamplifier Item It is the degree of protection when fitted with a connector Specified value Output communication style High speed serial communication I F Working ambient temperature 0 C to 55 C Working ambient humidity 90 RH or less with no dew condensation Atmosphere No toxic gases Tolerable vibration Horizontal direction to the axis 5G or less Vertical direction to the axis 5G or less Tolerable impact 490m s 50G Tolerable power voltage DC5V 10 Mass 0 33kg Degree of protection 2 IP67 1 2 81 The values above are the specified values for the preamplifier provided with a twin head magnetic encoder It is the degree of protection when fitted with a connector IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Optio
156. is available for the 104 1 0 kW 4000 r min 130 SQ motor whose flange size is 154 1 5 kW 4000 r min 130 SQ 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 L 2 Magnetic brake 354 3 5 kW 4000 r min 176 SQ Symbol _ 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 458 4 5 kW 3500 r min 176 SQ 142 1 4 kW 2000 r min 130 SQ 302 3 0 kW 2000 r min 176 SQ IB 1501238 A MDS EM Series Specifications Manual 1 Introduction 1 2 2 Servo Drive Unit Type 1 Multi axis integrated servo drive unit Output MULTI AXIS UNIT MDSEMSPV3 2001204 Type Input output conditions INPUT 65A 3PH 200 240V 50 60Hz 10V Software No y S W kk kkkttkkt kt MITSUBISHI ELECTRIC E ENG 1500 5 NAAN H W VER SERIAL DATE 2015 02 MODEL MDS UAL 18 150 1 Serial MITSUBISHI ELECTRIC CORPORATION Applicable standard POWER CV 20kW SP 11kW SV 4 5kWX3 MAX SURROUNDING AIR TEMP 55 ME n TOKYO 100 8310 Manual No Date of manufacture Year Month IK Rating nameplate MDS EM 1 SPV3 10040 40 40 40 SPV3 10080 80 80 80A SPV3 16080 80 80 80A SPV3 20080 SPV3 200120 Indicates the compatible motor for each servo drive uni
157. it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol 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 Return in troubles When asking repair of drive unit for some troubles make sure to put a cap on OPT1A 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 IB 1501238 A 112 Specifications of Peripheral Devices 113 IB 1501238 A MDS EM Series Specifications Manual 6 Specifications of Peripheral Devices 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
158. ition 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 Speed SHG control At Conventional control Time Position loop step response 3 2 7 High speed Synchronous Tapping Control OMR DD Control Servo drive unit detects the spindle position and compensates the synchronization errors This control enables more accurate tapping than the previous Note 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 d
159. kg cm A B HG54 SPV3 10040 xxx80 6 1 3 54x10 9 6 10x103 HG104 SPV3 10040 xxx80 11 9 1 95x10 9 6 591073 SPV3 xxx80 9 i 8 m 1 47 10 8 08 10 SPV3 200120 2 34x10 9 5 06x10 SPV3 xxx80 9 3 Horas ds 1 17x10 10 91x10 SPV3 200120 1 98x10 6 44x10 SPV3 xxx80 9 3 m 383 4 07x10 12 94x10 SPV3 200120 6 79x10 7 76x103 HG354 SPV3 200120 75 0 4 09 109 10 12x10 HG123 SPV3 10040 11 9 2 82x10 4 77x103 HG223 SPV3 10040 xxx80 23 7 1 96x109 6 60x103 SPV3 xxx80 9 3 om 55 4 51x10 12 33x10 SPV3 200120 7 82x10 711x103 HG453 SPV3 200120 112 3 42x10 11 96x103 HG142 SPV3 10040 17 8 3 94x10 9 3 53x10 HG302 SPV3 xxx80 75 0 7 01x10 9 8 48x103 63 IB 1501238 A MDS EM Series Specifications Manual 4 Characteristics 4 2 Spindle Motor 4 2 1 Environmental Conditions Environment Conditions Ambient temperature 0 to 40 C with no freezing Ambient humidity 90 RH or less with no dew condensation Storage temperature 20 C to 65 with no freezing Storage humidity 90 RH or less with no dew condensation A Indoors Where unit is not subject to direct sunlight tmosphere No corrosive gases flammable gases oil mist or dust Altitude Operation storage 1000m or less above sea level Transportation 10000m or less above sea level Vibration X 29 4m s 3G Y 29 4m s 3G Note Refer to each spindle motor specifications for details on the spindle motor vibration class 4 2
160. le Connector set 54599 1019 Contact CMV1 22ASC S1 P5 5V P5 5V LG LG CNT BT BT SD SD SD RQ RQ RQ RQ Case grounding SHD For 15m to 30m 147 IB 1501238 A MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications lt CNV2E HP cable connection diagram gt Drive unit side connector 3M Receptacle MDS B HR unit side connector Shell kit 36310 3200 008 Hirose Electric MOLEX Plug RM15WTP 8S Connector set 54599 1019 Clamp RM15WTP CP 10 P5 5V LG P5 5V P5 5V LG LG RQ RQ RQ RQ SD SD SD SD Case Case grounding grounding Cable connection diagram between scale I F unit and scale CNLH3 cable etc gt Encoder conversion unit side connector Hirose Electric Plug RM15WTP 12P Clamp RM15WTP CP 10 9 i SD 0 0 2mm SD 7 Li RQ 8 0 2mm z H At 3 7 L B 4 0 2mm B 5 TUER Lt Re 6 LMM R fome iiie Case grounding Note This cable must be prepared by the user IB 1501238 A 148 MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications lt Rectangular wave communication encoder linear scale etc cable connection diagram gt Drive unit side connector 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 MOLEX Connector set 54599 1019 P5 5V LG ABZSEL A A B B Z Z Case grounding
161. leration 240 230r Effect of suppressing acceleration deceleration time fluctuation 512000 Acceleration deceleration time s 220 240 2 00 1 90 H 2 Os 1 80 H 170 F 1 60 H 50 L eg 20 40 60 80 100 Stator thermistor temperature C IB 1501238 A 44 MDS EM Series Specifications Manual 3 Function Specifications 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 u m caused by the brake backlash During an emergency stop Motor brake of gravity axis Pull up gt Spindle
162. 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 drive unit Mitsubishi can offer the after purchase servicing as with the general drive unit 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 Transportation The unit and motor are precision parts and must be handled carefully According to a Unit
163. lt Features gt 1 When a linear scale is used two axes can share the position feedback signal from one linear scale 2 Feed rates of each axis are controlled with each axis speed feedback signals which allows stable control 3 Mechanical errors pitch error backlash etc are compensated using the common values CNC tM que d axis Speed Current control control Encoder Position control Program Same position command pd QU axis Speed Current control control Encoder Same position FB N CAUTION 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 X POINT When using a motor with brake for rigid synchronization control axes the brake circuits of the two motors can be connected to CN20 connector 1B 1501238 A 34 MDS EM Series Specifications Manual 3 Function Specifications 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 u
164. ltage is MDS EM Series Specifications Manual 2 Specifications lt HG Series gt HG453 HG142 HG302 125 100 Li T 75 2 2 Short time operation range Short time operation range Short time operation range 3 2 5 E 50 e o E 25 0 1000 2000 0 0 1000 2000 3000 3500 Rotation speed r min 0 1000 2000 Rotation speed r min Rotation speed r min Note1 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 11 IB 1501238 A MDS EM Series Specifications Manual 2 Specifications 2 2 Spindle Motor 2 2 1 Specifications lt SJ D Series Normal gt Spindle motor SJ D5 5 SJ D5 5 SJ D5 5 SJ D7 5 SJ D7 5 SJ D11 P 100 01 120 01 120 02 100 01 120 01 100 01 Compatible drive unit MDS EM SPV3 100xx 100xx 100xx 16080 200xx 100xx 100xx 16080 Continuous rating kW 3 7 3 7 3 7 5 5 5 5 7 5 5 5 5 5 55 75 7 5 11 Short time rating kW 30 minute 30 minute sites 30 minute 30 minute 30 minute 25 ED rating Output rating rating rating rating rating capacity Standard output during acceleration deceleration KW a 75 Ne 10 4 75 9 n Actual acceleration deceleration output KW 6 6 6 6 9 11 04 12 48 9 9 13 2 Power facility capacity kVA 9
165. ltage saturation so that the current control responsiveness will not degrade 3 2 13 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 IB 1501238 A 40 MDS EM Series Specifications Manual 3 Function Specifications 3 3 Compensation Control Function 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 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 lt S
166. 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 2 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 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 2zNT 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 selec
167. mpatible xxx80 xxx80 xxx80 drive Unt p EM SRNO 3X00 200120 200120 200120 Rated output kW 0 5 1 0 1 5 2 2 2 0 3 Rated current A 1 8 3 6 5 8 8 5 6 8 Rated torque N m T6 32 48 7 0 64 Stall current A 3 2 6 6 11 0 14 5 14 6 Stall torque N m 2 9 5 9 9 0 12 0 13 7 Power facility capacity kVA 1 1 2 0 2 8 4 1 3 7 Rated rotation speed r min 3000 Maximum rotation speed r min 4000 Maximum current A 16 8 29 0 52 0 57 0 57 0 Maximum torque N m 13 0 23 3 42 0 46 5 47 0 Power rate at continuous rated torque kW s 4 1 8 4 12 7 20 7 10 6 Motor inertia kg cm 6 1 11 9 17 8 23 7 38 3 Motor inertia with brake kg cm 8 3 14 1 20 0 25 9 48 0 1 T 1 High speed high accuracy machine 3 times or less of motor inertia Maximum motor shaft conversion load inertia A ratio General machine tool interpolation axis 5 times or less of motor inertia General machine non interpolation axis 7 times or less of motor inertia Resolution per motor revolution under development D51 4 194 304 pulse rev D48 1 048 576 pulse rev Degree of protection IP67 The shaft through portion is excluded Motor side encoder INmblontionnoratare Operation 0 to 40 C with no freezing P Storage 15 C to 70 C with no freezing Operation 80 RH or less with no dew condensation Ambient humidity Storage 90 RH or less with no dew condensa
168. n in case of skin contact Thionyl chloride gt Acute toxicity Lc59 500ppm inhaled administration to rat Local effect The lungs can be damaged by chronic cough dyspnea and asthma Aluminum chloride Acute toxicity Lpso 3700ppm oral administration to rat Local effect Not found Lithium chloride Acute toxicity Lpso 526ppm oral administration to rat Local effect The central nerves and kidney can be influenced Carbon black gt Acute toxicity Lpso 2 000mg kg gt rat Carcinogenicity LARC group 2 suspected of being carcinogenic 9 Ecological information Mobility Persistence Decomposability Bio accumulation potential Ecological toxicity Not found 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 167 IB 1501238 A MDS EM Series Specifications Manual Appendix 2 Restrictions for Lithium Batteries 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 t
169. nal capacity 1650mAh Hazard class Class9 Not applicable Battery shape Set battery rat Number of batteries used 2 Lithium alloy content 1 20 Less than 1 Number of connectable axes Note 3 Up to 3 axes Battery continuous backup time Up to 2 axes Approx 10000 hours 3 axes connected Approx 6600 hours Battery useful life From date of unit manufacture 5 years Data save time in battery replacement Approx 20 hours at time of delivery approx 10 hours after 5 years Back up time from battery warning to alarm occurrence Note 2 Up to 2 axes Approx 100 hours 3 axes connected Approx 60 hours Mass 34g Note 1 MR BAT6V1SET 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 Note 3 When using ball screw side encoder OSA105ET2A both ball screw side encoder and motor side encoder need to be backed up by a battery so the number of load shaft should be two b Installing the cell battery Connect the connector for the cell battery and install the battery case body to the upper front part of the servo drive unit nm connector connection part magnified figure MR BAT amp VISET i
170. nce to EC Directives Appendix 3 1 1 European EC Directives Appendix 3 1 2 Cautions for EC Directive Compliance Appendix 4 EMC Installation Guidelines Appendix 4 1 Introduction Appendix 4 2 EMC Instructions Appendix 4 3 EMC Measures Appendix 4 4 Measures for Panel Structure Appendix 4 4 1 Measures for Control Panel Unit Appendix 4 4 2 Measures for Door Appendix 4 4 3 Measures for Operation Board Panel Appendix 4 4 4 Shielding of the Power Supply Input Section Appendix 4 5 Measures for Various Cables Appendix 4 5 1 Measures for Wiring in Panel Appendix 4 5 2 Measures for Shield Treatment Appendix 4 5 3 Servo Spindle Motor Power Cable Appendix 4 5 4 Servo Spindle Motor Feedback Cable Appendix 4 6 EMC Countermeasure Parts Appendix 4 6 1 Shield Clamp Fitting Appendix 4 6 2 Ferrite Core Appendix 4 6 3 Power Line Filter Appendix 4 6 4 Surge Absorber Appendix 5 Higher Harmonic Suppression Measure Guidelines Appendix 5 1 Higher Harmonic Suppression Measure Guidelines Appendix 5 1 1 Calculating the Equivalent Capacity of the Higher Harmonic Generator Introduction IB 1501238 A MDS EM Series Specifications Manual 1 Introduction 1 1 Servo Spindle Drive System Configuration 1 1 1 System Configuration
171. nd 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 gt 30mm or more EE zem 65 IB 1501238 A MDS EM Series Specifications Manual 4 Characteristics 4 3 Drive Unit 4 3 1 Environmental Conditions Environment Conditions Ambient temperature 0 C to 55 C with no freezing Ambient humidity 90 RH or less with no dew condensation Storage temperature 15 C to 70 C with no freezing Storage humidity 9096 RH or less with no dew condensation Indoors no direct sunlight uno pue 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 s 0 5G orless Transportation 49m s 5G or less 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 196 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 9296 or less The heating value is proportional to the square of the current and required current decreasing
172. ndix 1 2 Cable Connection Diagram N CAUTION 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 Appendix 1 2 1 Battery Cable DG30 cable connection diagram Connection cable between drive unit and MDSBTBOX LR2060 between drive unit and drive unit Drive unit side connector Drive unit side connector J S T J S T Connector PAP 02V O Connector PHR 2 BL Contact SPHD 001G P0 5 Contact SPH 0022GW P0 5S BT 2 LG Note Shield processing of battery cable is unnecessary 1B 1501238 A 146 MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications Appendix 1 2 2 Servo Encoder Cable lt CNV2E 8P CNV2E 9P cable connection diagram gt Drive unit side connector Motor encoder 3M Ball screw side encoder side connector Receptacle 36210 0100PL DDk Shell kit 36310 3200 008 Plug CMV1 SP10S M2 Straight MOLEX CMV1 AP10S M2 Angle Connector set 54599 1019 Contact CMV1 22ASC S1 P5 5V 8 P5 5V LG 5 LG 3 CNT BT 4 BT SD 6 SD SD Sp RQ 1 RQ RQ 2 RQ Case grounding SHD For 15m or less Drive unit side connector Motor encoder 3M Ball screw side encoder side connector Receptacle 36210 0100PL DDK Shell kit 36310 3200 008 Plug CMV1 SP10S M2 Straight MOLEX CMV1 AP10S M2 Ang
173. ned so that the machine operation can be stable During current limit Speed feedback HAS control is disabled O r min Overshoot will occur to catch up the delay of position 39 196 or less than During current limit 1 maximum speed HAS control will catch up the delay of position Speed feedback HAS control is enabled Speed command IB 1501238 A MDS EM Series Specifications Manual 3 Function Specifications 3 2 10 OMR FF Control OMR FF control enables fine control by generating feed forward inside the drive unit and can realize the strict feedback control to the program command than the conventional high speed accuracy control The conventional position control method causes machine vibration when increasing the gain because it ensures both the trackability to the position command and the servo rigidity to the friction or cutting load etc by setting the position loop gain PGN OMR FF function allows the improvement of the command trackability by independently deciding the trackability with the scale model position loop gain PGM and the servo rigidity with the position control gain PGN OMR FF control option for NC side is required when using this function It is recommended that this function is used for linear motors direct drive motors or general motors in semi closed loop control lt Features gt 1 The command trackability can be decided independently of the
174. ng control and stopper reference position establishment by switching the two setting values 3 2 2 Variable Speed Loop Gain Control lt Servo gt 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 VGN1 VGN1 SV005 VGN2 VGN2 SV006 VCS SV029 VLMT Servo motor maximum speedx1 15 0 VCS VLMT VLMT Max speed x 1 15 lt Spindle gt 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 VGN2 VGVN VGN1 SP005 VGVN VGN1 VGN2 SP008 VGN2 VGVN SP005xSP073 100 VGVS SP074 i i VLMT SP026x1 15 0 VGVS VLMT 0 VGVS VLMT VLMT Max speed x 1 15 VLMT Max speed x 1 15 3 2 3 Gain Changeover for Synchronous Tapping Control SV003 SV004 and SV057 are used as the position loop gain for normal control Under synchronous tapping control SV049 SV050 and SV058 are used instead to meet the spindle characteristics c 75 Spindle Servo axis Material 7292 37 IB 1501238 A MDS EM Series Specifications Manual 3 Function Specifications 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 pos
175. nnector 3M Hirose Electric Receptacle 36210 0100PL Plug RM15WTP 8S Shell kit 36310 3200 008 Clamp RM15WTP CP 10 CNV2E HP O M Length CN3 MDS B HR unit cable 2 3 4 5 7 10 15 20 Compatible part Note 2 25 30m MOLEX Connector set 54599 1019 J S T Plug connector XV 10P 03 L R Cable kit XV PCK10 R MDS B HR unit side connector Hirose Electric MDS B HR connector CNEHRS 10 Plug RM1SWTP 8S for CONT 2 For MDS For CON1 2 1 Applicable cable outline ETON TE ter for CONS B HR unit Eo CONS 1 8 5 to 11mm Clamp RMTSWTP CP 10 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 105 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options Item Model Contents For CN2 3 Encoder connector CNU2S AWG18 Drive unit side connector 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 Compatible part Note 2 MOLEX Connector set 54599 1019 J S T Plug connector XV 10P 03 L R Cable kit XV PCK10 R 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 lt Brake cable and connector gt Item Model Contents CNB10 R2S 6
176. ns 4 Outline dimension drawing lt MBA405W BE082 gt Unit mm Main head IP67 8 5 gt EF 2 5 8 3 4 hole 21 5 Cable length 1200 amp S evenly spaced around 90 circumference an ii ji Hirose Electric 8 Drum installation hole 20 RM15WTPZ 12P 72 Ss IP67 in the fitting state E 4 5 5 6 _ Installation ring Qs evenly spaced around 124 circumference ES Installation ring hole 0 2 Installation ring 9 5 il Dimension from the bottom 7 of installation ring to the bottom of magnetic drum Magnetic drum S 5 e a oo 5 TOW a H 8 2 M5 pulling tap around 124 circumference oc 2 N Magnetic drum N N Z phase signal position mark 35 Magnetic drum centering track Sub head IP67 lt MBA405W BF125 gt Unit mm 23 5 Cable length 1200 i Main head IPG7 8 4 5 hole 22 evenly spaced around 134 circumference Installation ring Drum installation hole 8 P Hirose Electric 4 5 5 RM15WTPZ 12P 72 evenly spaced around 174 circumference 1 67 the fitting state Installation ring hole Installation r
177. ns 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 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 N 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 elec
178. nual 5 Dedicated Options lt MBE405W BG160 gt Cable length 1200 Hirose Electric RM15WTPZ 12P 72 IP67 in the fitting state outer diameter 22 Connector Main head IP67 Installation ring inner side circular part magnetic drum nd Distance between sensor head 0 35 Unit mm 25 5 8 5 5 hole 24 evenly spaced around 170 circumference 10 zh Drum installation hole Installation ring 4 6 6 4 evenly spaced around 226 circumference g Installation ring hole s S Installation ring 13 5 0 2 Magnetic drum lt Preamplifier common gt IB 1501238 A Hirose Electric RM15WTRZBK 12S 72 IP67 in the fitting state Sub head IP67 100 Z phase signal position mark opopona ENCODI 2 5 pulling tap around 226 circumference Magnetic drum 242 0 015 Magnetic drum centering track Eo 4 3 4 hole Hirose Electric RM15WTRZB 12P 72 IP67 in the fitting state Hirose Electric Protective cap RM15TR CA 71 RM15WTRZB 10P 72 IP67 in the fitting state ES FN Le P
179. o 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 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 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 N CAUTION 6 A A gt BB 7 gt PPP P 8 gt gt 9 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
180. ol 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 2 8 Dual feedback control 2 9 HAS control 2 10 OMR FF control 3 1 Jitter compensation 3 2 Notch filter ojojo Variable frequency 4 Fixed Variable frequency 4 Fixed Variable frequency 4 Fixed Variable frequency 4 Fixed 3 frequency 1 frequency 1 frequency 1 frequency 1 Compensation 3 3 Adaptive tracking type notch filter e e e e 3 4 Overshooting compensation e e e 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 control at emergency e 4 2 Vertical axis drop prevention pull up control Note 1 4 4 3 Earth fault detection 4 4 Collision detection function e e e 4 5 SLS Safely Limited Speed function e e e 4 6 Fan stop detection e e e e 4 9 STO Safe Torque Off function e 4 10 SBC Safe Brake
181. omentary outpu X axis HG104 1 0kW 5 0kW Y axis HG104 MDS EM SPV3 10040 1 0kW 5 0kW Z axis HG104 1 0kW 5 0kW A axis HG75 0 75kW 2 6kW B axis HG75 eedem 0 75kW 2 6kW C axis HG75 0 75kW 2 6kW Spindle 1 MDS EM SPV3 10040 7 5kW 9 0kW Spindle motor Spindle 2 37kXW MDS E SP 80 3 7kW 4 44kW Spindle 3 a E Addiction axis 3 7kW 4 Total 0 3x 1 0x3 0 75x3 7 5 3 7 3 7 16 5kW lt 20kW EM SPV3 Required power supply capacity kVA 16 5 20 x29 24 0 kVA IB 1501238 A 142 5 0x3 2 6x3 9 0 4 44 4 44 40 7kW lt 70kW EM SPV3 Appendix 1 Cable and Connector Specifications MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications 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 The Mitsubishi designated cable is the recommended cables shown below When manufacturing the encoder cable and battery connection cable use the recommended wires shown below or equivalent products a Heat resistant specifications cable Wire type oe Wire characteristics Finish other Sheath No of 7 Heat i outer 7 Configura Conductive Withstand Insulation manufacturer s 2 material pairs 3 3 resistanc
182. on at Power Failure The retraction function at power failure is a function to backup the power of the main circuit from the capacitor unit and perform a tool escape by the retraction operation with the NC command when a power failure occurs Outlined configuration of retraction function at power failure Servo or spindle settings Select the stop method deceleration and stop retraction Power backup unit PFU settings Select whether to connect a capacitor unit with a dip switch Connect for the retraction system with a parameter Set only for PS connection axis Drive unit Drive unit Power supply unit Power backup unit Resistor unit MDS E EH Vx MDS E EH SP MDS E EH CV MDS D DH PFU R UNIT6 7 E Capacitor unit MDS D DH CU o Optical communication 2 le e CN1A CN1A 088 CN1B CN41 CN4 CN4 Serial communication Power failure detection Uninterruptible power supply UPS resistor unit is required if the spindle motor is decelerated a stop after H retraction has been Essential for iperformed i retraction system Essential for RG ze fit retraction system AC power supply AC reactor 49 IB 1501238 A MDS EM Series Specifications Manual 3 Function Specifications 3 5 Sequence Functions 3 5
183. ons Function Specifications List lt Power Supply specification gt Item MDS E CV MDS EH CV MoS EM SPS MDS built in converter built in converter Software version Al Al Al Al 1 1 14 Power regeneration control e 2 Base control 1 15 Resistor regeneration control functions 4 6 Fan stop detection 4 7 Open phase detection 4 4 8 Contactor weld detection Protection 4 11 Deceleration and stop function at function power failure Note 1 e 4 12 Retraction function at power failure Note 2 i 5 5 1 Contactor control function Sequence 5 3 External emergency stop function e e e function 5 5 High speed READY ON sequence e e e el A 6 7 Power supply diagnosis displa Diagnosis function pp y cag D function Note 1 The power backup unit and resistor unit option are required Note 2 The power backup unit and capacitor unit option are required IB 1501238 A 30 MDS EM Series Specifications Manual 3 Function Specifications lt Servo specification gt Item MDS E V1 V2 MDS EH V1 V2 MDS EM SPV3 MDS EJ EJH V1 Software version 1 Base control functions 1 1 Full closed loop control A2 e A2 e 1 2 Position command synchronous control 1 3 Speed command synchronous control 1 4 Distance coded reference position control 2 Servo contr
184. onventional motor with the HG or HG H Series motor the motor maximum momentary output may increase more than the conventional motor Therefore make sure to check the selection with maximum momentary rated capacity 1B 1501238 A 140 MDS EM Series Specifications Manual 7 Selection 7 3 4 Required Capacity of Power Supply For the power supply capacity calculate the required spindle rated output and servo motor rated output each and select the power supply capacity satisfying them 1 Spindle rated output required for power supply The spindle rated output required for power supply is calculated from the following expression Spindle rated output required for power supply MAX Spindle motor continuous rated output Spindle motor output at accelerating decelerating Spindle motor short time output x motor output coefficient of combined spindle drive unit Note For the spindle rated output required for the power supply multiply the largest one of spindle motor continuous rated output spindle motor output at acceleration deceleration and spindle motor short time output by the motor output coefficient y of the combined spindle drive unit For the motor output coefficient of the combined spindle drive unit use the value corresponding to the used spindle drive unit in the table 2 of 7 3 1 1 2 Servo motor rated output required for power supply For the servo motor rated output required for power supply use the value cal
185. oop System 2 4 3 Connection of the Spindle Motor 2 5 Connection of Power Supply 2 5 1 Power Supply Input Connection 2 5 2 Connecting the Grounding Cable 2 6 Wiring of the Motor Brake 2 6 1 Wiring of the Motor Magnetic Brake 2 7 Emergency Stop Observation 2 8 Peripheral Control Wiring 2 8 1 Input output Circuit Wiring 2 8 2 Specified Speed Output 2 8 3 Spindle Coil Changeover 2 8 4 Proximity Switch Orientation 3 Safety Function 3 1 Safety Function 3 1 1 Harmonized Standard 3 1 2 Outline of Safety Function 3 2 STO Safe Torque Off Function 3 3 SBC Safe Brake Control Function 4 Setup 4 1 Initial Setup 4 1 1 Setting the Rotary Switch 4 1 2 Transition of LED Display After Power Is Turned ON 4 2 Setting the Initial Parameters for the Servo Drive Unit 4 2 1 Setting of Servo Specification Parameters 4 2 2 Setting of Machine Side Encoder 4 2 3 Setting of Distance coded Reference Scale 4 2 4 List of Standard Parameters for Each Servo Motor 4 2 5 Servo Parameters 4 3 Setting the Initial Parameters for the Spindle Drive Unit 4 3 1 Setting of Parameters Related to the Spindle 4 3 2 List of Standard Parameters for Each Spindle Mo tor 4 3 3 Spindle Specification Parameters 4 3 4 Spindle Parameters 5 Servo Adjustment 5 1 Servo Adjustment Procedure 5 2 Gain Adjustment 5 2 1 Current Loop Gain 5 2 2 Speed Loop Gain 5 2 3 Position Loop Gain 5 2 4 OMR FF Function 5 3 Characteristics Improvement 5 3 1 Optimal Adjustment of Cycle Time 5 3
186. or 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 gt gt gt gt 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 Structur
187. ose 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 Appropriate storage Storage condition Avoid direct sunlight high temperature and high humidity Recommended temp range 5 to 35 humidity 70 RH or less Material to avoid IB 1501238 A Flammable or conductive material Metal may cause a short circuit 166 MDS EM Series Specifications Manual Appendix 2 Restrictions for Lithium Batteries 6 Physical chemical properties 7 JPhysicalform Solo Shape Cylinder type Smell Odorless Appearance pH Not applicable insoluble Boiling point Boiling range Melting point Decomposition temperature Flash point No information 7 Stability and reactivity Stability Stable under normal handling condition Do not mix multiple batteries with their terminals uninsulated This may cause a short circuit resulting in heating bursting or ignition Condition to avoid Hazardous decomposition products Irritative or toxic gas is emitted in the case of fire 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 gt Acute toxicity No information Local effect Corrosive actio
188. ous effective load torque is obtained from the root mean square of the torque during each operation as shown in the expression 7 9 2 BI Fw 8 Motor speed Motor 0 torque Fig 1 Continuous operation pattern Tunis J 12 11 722 12 732 13 42 44 52 15 6 416 72417 82 18 0 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 8 Tst 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 Acceleration deceleration n 105 102 x XN N m 7 11 ta N Motor reach speed r min Ji Motor shaft conversion load inertia x10 kg m Motor inertia x104kgem ta Acceleration deceleration time constant ms n Drive system efficiency Normally 0 8 to 0 95 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 lt 0 6 Tst 7 12 IB 1501238 A 132 MDS EM Series Specifications Manual 7 Selection 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
189. ovement direction Calculate so that the static friction torque is always required during a stop Table 7 4 Load torques of unbalance axes Period Load torque calculation method Explanation Amount of acceleration torque Kinetic friction torque petal eration eration time 1 q q constant is calculated so that this torque is 80 of Unbalance torque the maximum torque of the motor 2 Kinetic friction torque Unbalance torque The absolute value of the acceleration torque amount is same as the of the deceleration Amount of deceleration torque Kinetic friction torque 3 torque amount The signs for the amount of Unbalance torque acceleration torque and amount of deceleration torque are reversed mu i i fairl 4 Static friction torque Unbalance torque he holding torque duning a stop becomes large Upward stop 5 Amount of acceleration torque Kinetic friction torque Unbalance torque The generated torque may be in the reverse of the 6 Kinetic friction torque Unbalance torque movement direction depending on the size of the unbalance torque 7 Amount of deceleration torque Kinetic friction torque Unbalance torque T The holding torque becomes smaller than the 8 Static friction torque Unbalance torque upward stop Downward stop V POINT During a stop the static friction
190. over ssssssssssssssseesseeeeenee enne nennen nnne enne nnn nnn 40 3 2 12 Spindle Output Stabilizing Control essent 40 3 2 13 High response Spindle Acceleration Deceleration 40 3 9 Compensation Control FUNGON i4 erre ect Er aet RR putas 41 3 3 l Jitter Compensation eir reir RH E 41 9 322 Notch Filler dte D e eee t ov thee Siete ceca ste cae 41 3 3 3 Adaptive Tracking type Notch Filter 41 3 3 4 Overshooting Compensation sssssssssssssseeeeeeeneneen nennen enne nennen rens 42 3 3 5 Machine End Compensation Control sss ennemis 42 3 3 6 Lost Motion Compensation Type 2 ccccecceceeeeeeeeeeeeeeeeeeeceeeeceaaeeeeeneeeeaaeesseneeesaaesseaaeesneeseeeaeees 43 3 3 7 Lost Motion Compensation Type nennen entente nter enses 43 3 3 8 Lost Motion Compensation Type 4 44 3 3 9 Spindle Motor Temperature Compensation FUNCTION essen 44 3 4 Protection FUnction cuoc uentus ctetuer peer ect e eet rene oe dae ue ne eee re e rae aes 45 3 4 1 Deceleration Control at Emergency 45 3
191. pecifications gt 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 Gain 0 20 40 Frequency 10 30 50 70100 300 500 700 1k Hz Example of filter characteristic set to 300Hz Gain dB Frequency 10 30 50 70100 300 500 700 1k Hz For shallow setting by additionally using the depth compensation at 300Hz 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 41 IB 1501238 A MDS EM Series Specifications Manual 3 Function Specifications 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 parame
192. qual to 30 1 0 137 IB 1501238 A MDS EM Series Specifications Manual 7 Selection b Spindle rated output The spindle rated output is calculated from the following expression Spindle rated output Spindle motor rated output x motor output coefficient of the additional axis spindle drive unit For the spindle motor rated output of the above expression use the value calculated in a For the motor output coefficient of the combined spindle drive unit use the value corresponding to the used spindle drive unit in the table 2 Table 2 Motor output coefficient list of additional axis spindle drive unit MDS E Series gt Spindle motor Additional axis spindle drive unit MDS E SP rated output 20 40 80 160 to 1 5kW 1 00 1 15 1 25 to 2 2kW 1 00 1 15 1 30 to 3 7kW 1 00 1 05 1 20 to 5 5kW 1 00 1 10 to 7 5kW 1 00 Q POINT 1 When the spindle motor applies to the wide range constant output specification or the high torque specification the spindle rated output may become large 2 The spindle rated output is calculated from the motor output coefficient of the spindle drive unit used in combination with the spindle motor 2 Calculation of spindle maximum momentary output The spindle maximum momentary output is calculated from the following expression Spindle maximum momentary output zMAX short time rated output x 1 2 output at acceleration deceleration x
193. que y 0 Motor acceleration Time ms Motor torque Ca Motor acceleration 1 TL l l 1 I 1 l ta 0 Nm N Time ms Motor speed r min Fig 1 Speed acceleration and torque characteristics when using the NC command linear acceleration deceleration pattern servo standard position control IB 1501238 A 128 MDS EM Series Specifications Manual 7 Selection c Approximation when using the NC command linear acceleration deceleration pattern servo SHG control option This is a servo s 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 1 05 x 10 x X 2xKpxta 1 f 1 0 586 1000 TL eee 7 5 2 Nm Nx 1 1000 1 15 1000 r min see 7 6 1 3 x Kp x ta 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 x10 kg m JM Motor inertia x10 kg m n Drive system efficiency No
194. quired Mitsubishi AP ATO AT Mitsubishi serial subishi seria Not serial signal Mitutoyo signa signa required Abso output Series Mitsubishi serial Mitsubishi seria Not lute FAGOR signal signa required position SVAM Series Mitsubishi serial Mitsubishi seria Not encoder FAGOR signal signal required GAM Series Mitsubishi serial Mitsubishi seria Not FAGOR signa required LAM Series Mitsubishi serial Mitsubishi seria Not FAGOR signal signa required RL4ON Series Mitsubishi serial Mitsubishi seria Not Renishaw signa signa required MPS Series ADB 20J60 Mitsubishi seria SIN wave Mitsubishi Heavy SIN wave signal Mitsubishi Heavy signa ad Industries Industries Required output SEDES 520460 Mitsubishi seria Mitsubishi Heavy SIN wave signal Mitsubishi Heavy signa Industries Industries Note 1 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 Note 2 The distance coded reference scale is the supported option for M800 Series IB 1501238 A 68 MDS EM Series Specifications Manual 5 Dedicated Options b Full closed loop control for rotary axis Machine side encoder to be used sional Interface unit Output signal Battery Remarks output option ectangular wave i Rectangular wave Rectangular wave E Various scale
195. r connection connector L axis 5V power supply capacity 0 35A 14 CN2M Servo motor side encoder connection connector M axis 5V power supply capacity 0 35A 15 CN2S Servo motor side encoder connection connector S axis 5V power supply capacity 0 35A 16 CN3L Machine side encoder connection connector L axis 17 CN3M m Machine side encoder connection connector M axis 18 CN3S Machine side encoder connection connector S axis 19 CN5A USB maintenance connector spindle usually not used 20 CN5B USB maintenance connector servo usually not used 21 TE2 L L Converter voltage input terminal DC input 22 L1 L2 L3 Power supply input terminal 3 phase AC input 23 TE1 U V W Motor power supply output terminal Spindle 3 phase AC output 24 Main CN31L VW Motor power supply output connector L axis 3 phase AC output 25 circuit CN31M U V W Motor power supply output connector M axis 3 phase AC output 26 CN31S U V W Motor power supply output connector S axis 3 phase AC output Grounding terminal 27 PE also including grounding of the spindle motor lt Screw size gt Multi axis integrated drive unit MDS EM SPV3 Type 10040 10080 16080 20080 200120 Unit width mm 260 21 TE2 M6 x 18 22 TE3 5 x 12 23 TE1 5 x 12 27 C M5 x 8 IB 1501238 A 28 29 3 Function Specifications IB 1501238 A MDS EM Series Specifications Manual 3 Function Specificati
196. r 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 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 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
197. r output current 5 2A 9 0A 10 7A 13 4A 3 9A 10 9A 3 Obtain to Bar3 using the equations 1 based 11 to 14 obtained with the equation 2 2 Match that value against the following table and select the IV wire size When using a conductor bar calculate the value at 4A reference value per 1mm of conductor area Wire size Tolerable current IV wire 60 HIV wire 75 250 15 15 3 550 20 20 5 550 28 30A 8SQ 34A 46A 14SQ 50A 65A 22SQ 65A 85A 38SQ 92A 115A 60SQ 124A 150A Ambient temperature is 40 C or less Z CAUTION 1 When the number of units is an odd number install and adjust the height by spacer etc because the bar of the final axis floats by the thickness of the bar 2 Unify the thickness of the bar to prevent a contact failure due to the inclination at thread fastening The thickness for two ply bar must be 6 4mm or less 3 To ensure the contact area of the bar 15 to 16mm is recommended for the bar width 4 The following material and plating are recommended for the DC link bar Material Tough pitch copper C1100 Plating Tin plating IB 1501238 A 124 125 T Selection IB 1501238 A MDS EM Series Specifications Manual 7 Selection 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
198. r 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 N CAUTION A Store and use the units under the following environment conditions Environment Unit Motor Ambient temperature Storage Transportation 15 C to 70 C Operation 0 1 55 Ts with no freezing Operation 0 to 40 C with no freezing with no freezing Storage 15 C to 70 C Note2 with no freezing Operation 90 RH or less Operation 80 RH or less Ambient humidity with no dew condensation with no dew condensation Storage Transportation 90 RH or less Storage 90 RH or less with no dew condensation with no dew condensation Atmosphere Indoors no direct sunlight With no corrosive gas inflammable gas oil mist dust or conductive fine particles Operation Storage Operation z 1000 meters or less above sea level 1000 meters or less above sea level Altitude Transportation
199. r 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 _ rEncderyp OSE 024 3 15 8 05 1024 3 15 68 58 Inertia 0 1x104kgm or less 0 1x104kgm or less Mechanical Ses Shaft friction torque 0 98Nm or less 0 98Nm or less characteristic a 5 7 5 s for rotation Shaft angle acceleration 10 rad s or less 10 rad s or less Tolerable continuous rotation speed 6000 r min 8000 r min Bearing maximum non lubrication time 20000h 6000r min 20000h 8000r min 0 02mm or less 0 02mm or less position 15mm from end ae Mechanical thrust direction radial direction configuration during operation 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 Ambient temperature range 5 C to 55 C Storage temperature range 20 C to 85 Working Humidity 95 Ph environment 5 to 50Hz total vibration width 1 5mm Vibration resistance each shaft for Omir Impact resistance 294 20m s 30G Note Confirm that the gear ratio pulley ratio of the spindle end to the encoder is 1 1 2 Detection signals Signal name Number of detection pulses A B phase 1024p re
200. 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 Note 4 For SJ D5 5 120 02 output characteristics at acceleration deceleration vary depending on the connected drive unit Refer to output characteristics for details For outline dimension drawings refer to DRIVE SYSTEM DATA BOOK IB 1501252 ENG IB 1501238 A 12 MDS EM Series Specifications Manual 2 Specifications lt SJ D Series Hollow shaft specifications gt Spindle motor type SJ D5 5 120 02T S p unit 100xx 16080 200xx Continuous rating kW 3 7 Short time rating kW 5 5 25 ED rating Output Standard output during 75 92 10 4 capacity acceleration deceleration kW i i Actual acceleration deceleration output kW 11 04 8 Power facility capacity kVA 9 9 9 9 9 9 Base rotation speed r min 2800 Maximum rotation speed r min 12000 Frame No B90 Continuous rated torque N m 12 6 GD kg m 0 030 Motor inertia kg m 0 0075 Tolerable radial load N Input voltage 3 phase 200V Cooling fan Maximum power 38W consumption Ambient temperature Operation 0 to 40 C with no freez
201. rate follows the expression below Required current decreasing rate 0 92 0 95 Therefore use the unit with the reduced effective load rate to 9596 or less 4 3 2 Heating Value The values for the servo drive unit apply at 50 of the stall output The values for the spindle drive unit apply for the continuous rated output The values for the multiple axes integrated drive unit include the AC reactor s heating value Multiple axes integrated drive unit Heating value W Type MDS EM Inside Outside panel panel SPV3 10040 130 560 SPV3 10080 140 590 SPV3 16080 150 650 SPV3 20080 175 815 SPV3 200120 235 1025 X POINT 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 Unit Load rate Servo drive unit 50 Spindle drive unit 100 IB 1501238 A 66 67 9 Dedicated Options IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 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 con
202. rent value stall rated current value ratio 10000 0 When stopped When rotating 1000 0 100 0 o E 400 1 0 400 500 100 200 300 Motor current value stall rated current value ratio IB 1501238 A MDS EM Series Specifications Manual 4 Characteristics HG204 466565 10000 0 When stopped When rotating 1000 0 1000 0 100 0 100 0 100 o 100 1 0 1 0 0 1 0 1 100 200 300 400 500 0 Motor current value stall rated current value ratio 10000 0 10000 0 When stopped 1000 0 When rotating 4000 0 100 0 100 0 P 8 10 0 E 100 1 0 1 0 01 04 0 100 200 300 400 500 Motor current value stall rated current value ratio 400000 10000 0 When stopped When rotating 1000 0 1000 0 100 0 2 100 0 z F 10 0 2 E 1400 10 0 1 1 0 0 1 100 200 300 400 500 Motor current value stall rated current value ratio 10000 0 10000 0 When stopped 1000 0 When rotating 1000 0 100 0 100 0 p 3 E 2 E E 10 0 F 400 1 0 1 0 01 0 100 200 300 400 500 0 1 Motor current value stall rated current value ratio 1B 1501238 A 58 HG354 When stopped When rotating 100 200 300 400 500 Motor current value stall rated current value ratio 96 HG223 When stopped When rotating 100 200 300 400 500 Motor current value stall rated current value ratio 96 HG453 When stopped When rotating 100 200 300 400 500 Motor cur
203. rent value stall rated current value ratio 96 HG302 When stopped When rotating 100 200 300 400 500 Motor current value stall rated current value ratio MDS EM Series Specifications Manual 4 Characteristics 4 1 8 Magnetic Brake N CAUTION 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 1 Motor with magnetic brake a b c d 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 Applications When this type of moto
204. rive unit that is subject to the synchronous tapping control Spindle speed Spindle speed r min r min 4000 1000 2000 3000 4000 005 1 15 2 25 3 35 005 1 15 2 25 3 35 Without OMR DD contro sec With OMR DD control sec IB 1501238 A 38 MDS EM Series Specifications Manual 3 Function Specifications 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 Position droop Speed command Table Linear scale Position command gt Position control High frequency FB element Position FB Low frequency FB element Primary delay filter 5 051 Position Dual feedback 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 smoothe
205. rmally 0 8 to 0 95 T Motor shaft conversion load friction unbalance torque Nem Motor speed r min N Nm m EE Motor actual speed Speed most required Time ms Motor for the motor torque torque Motor acceleration Ac Eus ecc Ta 1 pel Motor acceleration TE Time ms Nm N Motor speed r min Fig 2 Speed acceleration and torque characteristics when using the NC command linear acceleration deceleration pattern servo SHG control 129 IB 1501238 A MDS EM Series Specifications Manual 7 Selection d Approximation when using the NC command soft acceleration deceleration pattern feed forward control This is an approximation when using high speed high accuracy control and OMR FF control If the feed forward 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 1 05 x 10 x Juq Ju x ta Ta1 7 eee 7 7 1 zZNX T Nm N x 1 5 tb a y r min see 7 8 ta Acceleration deceleration time constant tb Acceleration deceleration time constant N Motor reach speed r min JL Motor sh
206. s 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 3 6 7 Power Supply Diagnosis Display Function The diagnosis information of the power supply bus voltage current cooling fan rotation and battery voltage is displayed on the NC monitor screen IB 1501238 A 52 53 4 C
207. sed as the position is calculated using reference marks 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 Speed Speed Reduced by 20 m Time H Time 1 0 8 lt Our conventional series gt lt MDS E EH Series gt Orientation Speed Speed Time reduced Zero point C axis C axis return positioning positioning gt Time Time lt Our conventional series gt lt MDS E EH Series gt C axis changeover 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
208. sing these products refer to the manufacturer s information materials for the product specifications 101 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 5 3 4 Serial Output Interface Unit for ABZ Analog Encoder ADB 20J Series Other Manufacturer s Product 1 Appearance 2 Specifications Type ADB 20J20 ADB 20J60 ADB 20J71 Manufacturer Mitsubishi Heavy Industries 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 Er 0 00005 0 25 43 Minimum detection resolution 7 200 000p rev 0 05um 1 procu Working temperature 0 C to 55 C Degree of protection IP20 Mass 0 9kg N CAUTION These are other manufacturer s products When purchasing these products refer to the manufacturer s information materials for the product specifications 3 Outline dimension drawings Unit mm Label side 160 IB 1501238 A 102 MDS EM Series Specifications Manual 5 Dedicated Options 5 4 Cables and Connectors 5 4 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 lengt
209. something is wrong for eye The light source of optical communication corresponds to class1 defined in JISC6802 or IEC60825 1 1B 1501238 A 110 MDS EM Series Specifications Manual 5 Dedicated Options 2 Cautions for using optical communication cable Optical communication cable is made from optical fiber If optical fiber is added a power such as a major shock lateral pressure haul sudden bending or twist its inside distorts or breaks and optical transmission will not be available Especially as optical fiber for J396 L M is made of synthetic resin it melts down if being left near the fire or high temperature Therefore do not make it touched the part which becomes high temperature such as radiator or regenerative brake option of drive unit Read described item in this section carefully and handle it with caution a b 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
210. st Type L axis M axis S axis O3JFAT SAFGDK P15 O3JFAT SAXGDK P15 O3JFAT SAYGDK P15 O3JFAT SAZGDK P15 x x OIO Unit mm Manufacturer J S T Li lt gt Connector J FAT OT P IB 1501238 A 156 MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications Control power connector for drive unit CN22 for MDS EM SPV3 Series Unit mm 14 16 N Manufacturer DDK lt gt 1n Connector DK 3200S 02R 24 62 Er Q hari EE a we zum x 5 08 Le Battery power connector Battery connector for drive unit Unit mm N NOTE2 Manufacturer J S T Type Connector PAP 02V O Unit mm Manufacturer J S T lt Type gt Connector PAP 02V O 157 IB 1501238 A MDS EM Series Specifications Manual Appendix 1 Cable and Connector Specifications Appendix 1 4 2 Connector for Servo Motor encoder connector Motor side encoder connector Ball screw side encoder for connector Unit mm Manufacturer DDK Type Plug CMV1 SP10S M2 Unit mm Manufacturer DDK Type Plug CMV1 AP10S M2 Note For the manufacturing method of CMV1 series connector refer to the section Cable and Connector Assembly in Instruction
211. t 80 80 80A IB 1501238 A MDS EM Series Specifications Manual 1 Introduction 1 2 3 Spindle Motor Type lt SJ D Series gt at MITSUBISHI ELECTRIC MODEL SJ AC SPINDLE QR 3 D7 5 100 01 CE i 2 ki r nin 6000 44 Date of manufacture EN 6 L CLASSIF ICATIO Year Month MITSUBISHI ELECTRIC CORPORATION JAPAN Rating nameplate 5 1 2 3 6 6 LE LL 4 Specification code 6 Option Note 1 Motor series Symbol Motor Series Indicates a specification Symbol Option Standard code 01 to 99 None Standard flange type without oil Compact amp lightweight without key coil changeover specifications 3 Maximum rotation speed unavailable air cooling solid shaft Low inertia Indicates the hundreds place With key specifications and higher order digits J X Reversed cooling air 2 Short time or ED rated output Note If more than one option is included Symbol Short time rated output the symbols are in alphabetical order 5 5 5 5kW 5 Encoder 7 5 7 5kW Symbol Type 11 11kW None 15 15kW T SJ V VL Series gt SJ 1 3
212. t e Oil or water n LJ TO Servo motor 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 HG54 104 154 224 123 223 142 22 5 HG204 354 303 453 302 30 Servo motor Oil level Oil seal 3 When installing the servo motor horizontally set the power cable and encoder cable to face downward When installing vertically or on an inclination provide a cable trap 0 Cable trap TO CAUTION 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 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 IB 1501238 A 56 MDS EM Series Specifications Manual 4 Characteristics 4 1 6 Installation of Servo
213. t MDS EM SPV3 rated capacity 20kW gt X Spindle rated output 0 3 Servo motor rated output Note Calculate the spindle and servo motor rated output including not only the motor connected to the additional axis drive unit but also those connected to MDS EM SPV3 Substitute the output calculated from 7 3 1 1 and 7 3 2 1 to the above expression and calculate the total sum of the spindle rated output and servo motor rated output According to this select the unit so that the rated capacity of MDS EM SPV3 is less than 20kW Calculation of required maximum momentary output Maximum momentary rated capacity of MDS EM SPV3 70kW gt X Spindle maximum momentary output gt Maximum momentary output of servo motor accelerating decelerating simultaneously Maximum momentary output of direct drive motor accelerating decelerating simultaneously Note Calculate the spindle and servo motor maximum momentary output including not only the motor connected to the additional axis drive unit but also those connected to MDS EM SPV3 Substitute the output calculated from 7 3 1 2 and 7 3 2 2 to the above expression and calculate the total sum of the spindle maximum momentary output and output of servo motor accelerating decelerating simultaneously According to this select the unit so that the maximum momentary rated capacity of MDS EM SPVS3 is less than 70kW N CAUTION When reducing the time constant replacing the c
214. t voltage 3 phase 200V Cooling fan Maximum power 38 50 consumption Ambient temperature Operation 0 to 40 C with no freezing Storage 20 C to 65 C with no freezing Ambient humidity Environment 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 Jmm 174 SQ 204 SQ Total length excluding shaft mm 377 489 Flange fitting diameter mm 150 180 Shaft diameter mm 028 032 Mass kg 30 56 Heat resistant class 155 F 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 For outline dimension drawings refer to DRIVE SYSTEM DATA BOOK IB 1501252 ENG IB 1501238 A 16 MDS EM Series Specifications Manual 2 Specifications lt
215. tactor 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 1 For power supply Contactor selection current A Contactor selection current for 200V input A Nominal input voltage V x 200 V Selection of contactor for 200V input Unit type MDS EM SPV3 10040 xxx80 200120 Rated output 18 5kW Contactor selection current for 200V input 76A Selection example of contactor Mitsubishi Electric Corp S N65 AC200V Conventional freeair thermal current of the selection example of contactor Option part A contactor is not prepared as an NC unit accessory so purchase the part from your dealer etc 2 For spindle coil changeover 100A Example of selecting a contactor for the coil changeover Use a same contactor regardless of low speed coil or high speed coil gt Unit type MDS EM SPV3 10040 MDS EM SPV3 10080 MDS EM SPV3 16080 Contactor type S N25 S N35 MDS EM SPV3 20080 MDS EM SPV3 200120 S N65 X POINT 1 Use an alternating contactor 2 If the contactor selection current is 20A or less select the S T12 product for the contactor 3 Select a contactor whose excitation coil does not operate at 15mA or less 117 IB 1501238 A
216. tainer 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 rea ransportation metho estriction pecial clause World Air ICAO IATA World Marine IMO 188 United States All air marine land DOT 49 CFR 173 185 Europe land RID ADR 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 Mitsubishi type Lithium metal Number of Application Battery Outline dimension Type for arrangement patie Wee content Data backup class drawing Refer to Battery Option in the specification manual CR23500SE CJ5 CR23500SE CJ5 1 52g For NG SRAM Battery les dva unit usua using
217. tant 3 Calculation method of spindle synchronization The output guideline is 70 of the short time rating The time is spindle synchronization time constant IB 1501238 A 136 MDS EM Series Specifications Manual 7 Selection 7 3 Selection of the Additional Axis Drive Unit When selecting an additional axis drive unit to be connected to TE2 L L Converter voltage input terminal of MDS EM SPV3 calculate the spindle motor output and servo motor output each and select the capacity so that the total sum should not exceed the rated capacity and the maximum momentary output of MDS EM SPV3 The additional axis drive unit is spindle servo drive unit which is operated by using the built in power supply section of MDS EM SPV3 Connectable drive units are determined by the rated capacity of MDS EM SPV3 The following is available capacities Spindle drive unit MDS E SP 20 40 80 160 Servo drive unit MDS E Vx 20 40 80 7 3 1 Calculation of Spindle Output The spindle rated output and spindle maximum momentary rated output are calculated 1 Calculation of spindle rated output The spindle rated output is calculated according to the following procedure a Spindle motor rated output The spindle motor rated output is calculated from the following expression Spindle motor rated output MAX continuous rated output short time rated output x short time rated output coefficient o ED rated output x ED rated output coefficient
218. 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 111 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options c d e f 9 h i i k I 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 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 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 Cable selection When wiring is outside the power distribution panel or machine cabinet
219. ters when the motor stops Position Speed command FB 0 0 Position Position droop droop 0 Overshoot Time 1 Overshooting during rapid traverse settling Overshoot Time 2 Overshooting during pulse feed 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 IB 1501238 A Electric end FB lt Compensation Si Program path E Spindle head Machine end FB Command is issued in the inner side during high speed feed During high speed feed the machine end swells outward due to Machine end FB Machine end FB Since a command is issued in the inner side by the amount of spring effect the shape keeps fine even during the Electric end FB Electric end FB the spring effect high speed feed Normal control Machine end compensation 42 MDS EM Series Specifications Manual 3 Function Specifications 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
220. the friction during the axis movement is outputted by 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 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 control With the this lost motion compensation function improves the accuracy worsened by the stick motion No compensation With compensation 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 Not only frictions but spring element and viscosity element can 2 Changes between static and dynamic frictions are be compensated thus quadrant protrusions are suppressed wi
221. 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 For outline dimension drawings refer to DRIVE SYSTEM DATA BOOK IB 1501252 ENG IB 1501238 A 18 MDS EM Series Specifications Manual 2 Specifications lt SJ VL Series Low inertia gt Spindle motor type SJ VL11 02FZT SJ VL11 05FZT S01 Compatible drive unit type MDS EM SPV3 16080 16080 Continuous rating KW 2 2 1 5 3 7 3 Short time rating KW Output 15 minute rating 10 minute rating Standard output during capacit acceleration deceleration kW 11 11 Actual acceleration deceleration output kW 132 13 2 Power facility capacity kVA 6 7 5 5 Base rotation speed r min 1500 5000 Maximum rotation speed r min 15000 15000 Frame No D90 B71 Continuous rated torque N m 14 0 2 8 GD kg m 0 012 0 0096 Inertia kg m 0 003 0 0024 Tolerable radial load N 245 980 Input voltage Single phase 200V Cooling fan Maximum power AW 14W consumption Ambient temperature Operation 0 to 40 C with no freezing Storage 20 C to 65 C with no freezing Ambient humidity Environment Opera
222. the detection gear make sure that the D part side comes the opposite side of the sensor installation side sensor s lead wire side Note 4 The diviation of the center of the detection gear is 16 5 0 25mm from the sensor mounting face Note 5 A connector of the signal cable side one plug and nine pins is attached Sew Detection gear Lead wrelengihA mm Paris name TS5690N6410 400 10 TS5690N6420 800 20 75569036430 1200 20 MU1606N601 TS5690N6440 1600 30 TS5690N6460 2000 30 89 D part Note 3 2 hole for identification Detection gear Projection for connector lock 22 14 ache L 615 so 0 RQ 8 i FG 56 Pin layout of output Seen from ArrowA connector 3 Sensor mounting face 0 060 72 0 010 Encoder mounting face of machine side IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options lt TS5690N12xx MU1606N709 gt Unit mm Round crimp contact for thermistor 0 5 4 For M4 screw Output connector by Tyco Electronics 100 10 Housing Cap 172161 1 Contact Socket 170365 4 X C Accessories Note 5 Sensor mounting
223. the distributor from which the customer purchased the product 3 Exclusion of Responsibility for Compensation against Loss of Opportunity Secondary Loss etc Whether during or after the term of warranty we assume no responsibility for any damages arising from causes for which we are not responsible any losses of opportunity and or profit incurred by the customer due to a failure of this product any damages secondary damages or compensation for accidents arising under specific circumstances that either foreseen or unforeseen by Mitsubishi Electric any damages to products other than this product or compensation for any replacement work readjustment and startup test run of on site machines or any other operations conducted by the customer 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
224. the public interest or which are expected to have significant influence on human lives or properties Contents 1 Li CUCE ON ees eel odo oak Teese cg os et carte ee ea EAE E EE uaa 1 1 1 Servo Spindle Drive System Configuration sse 2 System Eso et br bet erste e inte 2 1 2 Of ince tette Een ei e et eene C beca ne Eres aestu Pet ERR XR ME Re 3 1 2 1 Servo Motor t n tne et diced Pd dte ect bein petes 3 1 2 2 Servo Drive Unit 4 1 2 9 Spindle MOtOF TVD6 z cn rrt bee E aae Ep eirca Pede teet 5 1 2 4 AG Reactor Type aie i te Ree ida e RR EUR iae tru Ea Pe e DNE HR EE ad 6 2 SPECICATION rs 7 2 SCWO MOOK it tiie igi IIO ERU EE UE ca Re i ori a ee 8 22121 Specifications Lists 2 nde aaa telas p Hed deett adie 8 2 12 Torque Characteristics 2 5 o aee edet nere eat da aseo eds be dense 10 2 2 Spindle iriri ei ee er e a ace v Ted oda ea 12 2 2 4 Speclficalions iiie e ede metr oi eg Et e Ae ere ease dees 12 2 2 2 Output Characteristics enean dl ep Ede oe Aegina Ene d ego 20 AS DNS UNI 25 2 3 1 Installation Environment
225. the user is both within the specified range there is a difference in the installation position Therefore the accuracy at the time of our shipment may not be acquired 3 It is the degree of protection when fitted with a connector 3 Specifications of preamplifier Item Specified value Output communication style High speed serial communication I F Working ambient temperature 0 C to 55 C Working ambient humidity 9096RH or less with dew condensation Atmosphere No toxic gases Tolerable vibration Horizontal direction to the axis 5G or less Vertical direction to the axis 5G or less Tolerable impact 490m s 50G Tolerable power voltage DC5V 10 Mass 0 33kg Degree of protection 2 IP67 1 The values above are the specified values for the preamplifier provided with a twin head magnetic encoder 2 It is the degree of protection when fitted with a connector IB 1501238 A 92 MDS EM Series Specifications Manual 5 Dedicated Options 4 Outline dimension drawing lt MBE405W BE082 gt Hirose Electric RM15WTPZ 12P 72 IP67 in the fitting state N outer diameter 22 Connector Main head IP67 0 35 Cable length 1200 Distance between magnetic drum and sensor head Unit mm 120 Sub head IP67 MBE405W BF125 gt Hiros
226. ting the motor consider the axis stroke and usage methods and select the motor with the optimum rated speed IB 1501238 A 126 MDS EM Series Specifications Manual 7 Selection 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 X POINT 1 When selecting feed axis servo motors for NC unit machine tools place importance on t
227. tion Atmosphere Indoors no direct sunlight no uid gas inflammable gas oil mist or Altitude Operation 1000 meters or less above sea level Storage 10000 meters or less above sea level X 24 5m s T 2 5G Vibration X Y 24 5m s 2 Y 29 4m s Flange size mm 130 SQ 130 SQ 130 SQ 130 SQ 176 SQ Total length excluding shaft mm Note 3 118 5 140 5 162 5 184 5 143 5 Flange fitting diameter mm 110 110 110 110 114 3 Shaft diameter mm 24 24 024 024 35 4 8 6 5 8 3 10 0 12 0 Mass Without with brake kg 6 8 85 10 3 12 0 18 0 Heat resistant class 155 Note 1 The above characteristics values representative values The maximum current maximum torque are the values when combined with the drive unit Note 2 The total length will be 3 5mm longer when using an D51 encoder Note 3 Only the combination designated in this manual can be used for the motor and drive unit Always use the designated combination For outline dimension drawings refer to DRIVE SYSTEM DATA BOOK IB 1501252 ENG IB 1501238 A 8 MDS EM Series Specifications Manual 2 Specifications lt HG Series gt HG Series Servo motor type ABS specifications HG 1 51 D48 HG354 HG123 HG223 HG303 HG453 HG142 HG302
228. tion 9095 RH or less with no dew condensation Storage 9095 RH or less with no dew condensation Atmosphere Indoors no direct sunlight no corrosive gas inflammable gas oil mist or dust Operation 1000 meters less above sea level Storage 1000 meters or less above sea level Altitude i Transportation 10000 meters or less above sea level Degree of protection IP44 Flange size mm 174 SQ 130 SQ Total length excluding shaft mm 441 335 Flange fitting diameter mm 150 110 Shaft diameter mm 028 022 Mass kg 40 20 Heat resistant class 155 F 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 For outline dimension drawings refer to DRIVE SYSTEM DATA BOOK IB 1501252 ENG 19 IB 1501238 A MDS EM Series Specifications Manual 2 Specifications 2 2 2 Output Characteristics lt SJ D Series Normal gt SJ D5 5 100 01 30 minute rating Output kW 0 o 1500 6000 Rotation speed r min 10000 SJ D5 5 120 02 EM SPV3 16080 Output kW 0 2000 2800 6000 8000 Rotation speed r min 12000 SJ D7 5
229. tion deceleration kW Actual acceleration deceleration output kW pu id 132 18 Power facility capacity kVA 9 9 9 9 13 4 13 4 19 6 26 7 Continuous rating 2000 2000 2000 2000 2000 2000 rotation r min speed Short time rating r min 1500 1500 1500 1500 1500 1500 Maximum rotation speed r min 10000 12000 10000 12000 10000 8000 Frame No B90 B90 D90 D90 A112 B112 Continuous rated torque N m 17 7 17 7 26 3 26 3 35 8 52 5 GD2 kg m 0 030 0 030 0 053 0 053 0 094 0 122 Motor inertia kg m 0 0074 0 0074 0 013 0 013 0 023 0 031 Tolerable radial load N 980 980 1470 1470 1960 1960 Input voltage 3 phase 200V Cooling fan Maximum power 38W 38W 38W 38W 50W sow consumption Ambient temperature Operation 0 to 40 C with no freezing Storage 20 C to 65 C with no freezing Ambient humidity Environment 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 174SQ 174 SQ 174SQ 174 SQ 204 SQ 204 SQ Total length excluding shaft mm 327 327 417 417 439 48
230. 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 133 IB 1501238 A MDS EM Series Specifications Manual 7 Selection 7 1 3 Motor Shaft Conversion Load Torque The calculation method for a representative load torque is shown Type Mechanism Calculation expression F V ja F AS 2x 10 nq N 2x 10 torque Nem F Force 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 AS Object movement amount per motor rotation mm Z Z Deceleration ratio F in the above expression is obtained from the expression below when the table is moved as shown on the left W g Fo F Force applied on axial direction of moving section Fo Tightening force on inner surface of table guide W Total mass of moving section kg Linear movement g Gravitational acceleration 9 8 m s u Friction coefficient TL Zt TLo TF TLo TF lt gt Zz m nm 2 Ti Load torque Nem Rotary o Load torque on load shaft Nem movement 71 72 shaft conversion load friction torque n Drive system efficiency Z4 Z5 Deceleration ratio
231. trol for linear axis Machine side encoder to be used Interface unit care Bebe Remarks Recianauler SR74 SR84 Rectangular wave _ Rectangular wave _ gt Magnescale signal signal wave signal Rectangular wave Rectangular wave output Various scale signal signal IBV series Rectangular wave HEIDENHAIN signa 15187 15487 SIN wave signal EIB series Mitsubishi serial HEIDENHAIN HEIDENHAIN signal APE series Mitsubishi serial HEIDENHAIN signa mae MDS B HR 11 P TM signal LS187C LS487C SIN wave signal _ Mltsubishi Electric Mitsubishi serial Required output HEIDENHAIN EIB series signa Note 1 Note 2 HEIDENHAIN MDS B HR 11 P Distance coded Mitsubishi Electric Mitsubishi seria Required reference scale is Various scale SIN wave signal also EIB series signal Note 1 available HEIDENHAIN Note 2 Mitsubishi SR75 SR85 Mitsubishi serial Mitsubishi seria Serial signal Magnescale signal signa output OSA105ET2A Mitsubishi serial _ Mitsubishi seria Required Ball screw side Mitsubishi Electric signal signal encoder SR77 SR87 SR67A Mitsubishi serial Mitsubishi seria Not Magnescale signal signal required M Be SEN Mitsubishi serial R Mi subishi seria Not HEIDENHAIN signal signa required LC193M LC493M Mitsubishi serial Mitsubishi seria Not HEIDENHAIN signal e signal re
232. tronics 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 e 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 N CAUTION 1 Fire prevention Install the units motors and regenerative resistor non combustible material Direct installation combustible material or near combustible materials could lead to fires Always install a circuit protector and contact
233. tween drive units Connector LGP Z0007PK Connector LGP Z0007PK CN1B outside panel O Length 1 For NC drive unit a a al f OPT1B A Drive unit side connector Drive unit side connector LOM Japan Aviation Electronics Japan Aviation Electronics Optical communication cable Q390 Industry Industry For wiring between drive units O Length Connector CF 2D103 S Connector CF 2D103 S outside panel 5 10 12 15 20 25 _ 30m FEE 2 Note For details on the optical communication cable refer to the section Optical Communication Cable Specification Battery cable and connector gt Item Model ontents Battery input side connector ED D d DG30 OM J S T M SEES Fordrve O Length Connector PA OAV O E SN 5S unit eet ove nil Battery box 03 05 10 20 30 Contact SPHD 001G PO 5 Note 1 i For drive unit drive unit Note 2 5 0 7 0 10 0m 22 41 Note 1 2 Hand crimping tools YC 611R Hand crimping tools YRM 240 DIO analog output connector gt Item Model Contents Drive unit side connector 3M Connector 10120 3000VE Shell kit 10320 52F0 008 For CNOA DIO analog output FCUA CS000 N9B connector set c Compatible part Note 1 J S T Connector MS P20 L Shell kit MS20 2B 28 Note 1 The names of compatible parts may be changed at the manufacturer s discretion Contact each manufacturer for more information 1B 1501238
234. um centering track 4 3 4 hole Hirose Electric 242 0 015 5 R 5 RM15WTRZB 12P 72 IN KON SET IP67 in the fitting state E o n Toonas ENCODER MBAROSW BGI Hirose Electric y m jAVVSWGEOK L7 Protective cap ol Md NO RM15TR C4 71 4 git ES o DA OEY Hirose Electric RM15WTRZB 10P 72 Hirose Electric IP67 in the fitting state RM15WTRZBK 12S 72 IP67 in the fitting state 105 Ei Se oF i Lal 1 e gt las E Wl 4le Preamplifier 83 Dimension from the bottom of installation ring to the bottom of mag netic drum Unit mm IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options lt Explanation of connectors gt Connector name Application gt CN1 1 For connection with scale main head CN1 2 For connection with scale sub head 2 For connection with servo drive unit CN3 For connection with motor thermistor lt Connector pin layout gt CN2 lt Drive unit gt CN3 lt Thermistor gt In NO unction NO unction 1 1 2 BT 2 3 SD 3 MT1 i 4 SD 4 5 SHD 5 6 MT1 6 7 RQ 7 8 RQ 8 9 P5 9 MT2 i 10 LG 10 1
235. utput Interface Unit for ABZ Analog Encoder ADB 20J Series Other Manufacturer s Product ssessssssssssssssseseee eene eterne nnne nennen nnne 102 5 4 Cables ard ConnectOrs t e nA eet i ete Lo e geo dare art ne ee ee es 103 5 4 1 Cable Connection 103 5 4 2 List of Cables and Connectors sssssssssssssssesse esee enne nen nennen rennen nnne 104 5 4 3 Optical Communication Cable Specifications enne 110 6 Specifications of Peripheral Devices eeeeeeseeieeee esses seen eene nn nennen nenne nn annt nnn 113 Gal Selection Of WIre s o tse teet eerte ta ve t vedete e bee 114 6 1 1 Example of Wires by ote ntt rre 114 6 2 Selection of Circuit Protector and Contactor ssssssssssssssseseee eene 116 6 2 1 Selection of Circuit Protector sssssssssssssssssee eene nennen nnns nnne nensi trennen 116 6 2 2 Selectionof Contactors Pot rt E Ue bea cet ut e E gne seb orte ordo 117 6 3 Selection of Earth Leakage Breaker 118 6 4 Noise FMO tote reet ete ee rte en tte e oti A ee e Cie tt eed 119 0 5 Surge ADSOIDGI Aene teet te mee Ae oerte 120 6 6
236. v Z phase 1p rev Connector pin layout Pin Function Pin Function A A signal K 0v B Z signal L Cc B signal M D x N A signal E Case grounding P Z signal F 2 R B signal G S H 5V T J E 1B 1501238 A 86 MDS EM Series Specifications Manual 5 Dedicated Options 3 Outline dimension drawings 102 33 T T Le x nu N SSS EN d p G 4 9 H MS3102A20 29P 4 5 4 hole 3 2 BE i e So lt 2 lo HE 28 oS E 8 y Y 0 14 1 15 0 20 gt Shaft section 068 gt O 56 Key way magnified figure Spindle side encoder OSE 1024 3 15 68 OSE 1024 3 15 68 8 87 Unit mm IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 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 lt Sensor type gt TS5690N Detection gear type gt MU1606N 1 2 Each specification number 2 Spe
237. vo for 8 sles Only connector Maxis S axis 28 5 is supplied aT Ia H i O RA circuit for contactor drive Note Prepared by user d q Servomotor Power connector Spindle motor Brake connector oo oo 60 Circuit protector reactor Contactor Note Prepared Note Prepared by user by user 3 phase 200VAC power supply IB 1501238 A 2 MDS EM Series Specifications Manual 1 Introduction 1 2 Explanation of Type 1 2 1 Servo Motor Type Motor type Rated rotation speed Amen 1 HG54S A AC SERVO MOTOR Rated output lt HG Series gt Serial No HG 1 2 3 10 170 20A J 3kWr 48kg CLF 3000 r min 200Hz Sat ser 00001234 i 4 V FAN oss Als a AR at Date of manufacture 109 September 2010 13Y November 2013 X October Y November Z December Motor rating nameplate 1 Rated output Maximum rotation speed 3 Shaft end structure 4 Encoder Symbol Rated output Flange size mm Symbol Shaft end structure Symbol Detection method Resolution 75 S Straight D48 Absolute 1 048 576 p rev 105 unger developmient T Taper D51 position 4 194 304 p rev 54 0 5 kW 4000 r min 130 SQ Note Taper
238. voltage drop warning 9F is released after replacing the battery e System configuration Battery box MDSBTBOX LR2060 2 axis servo Multi axis integrated drive unit drive unit MDS E EH V2 MDS EM SPV3 0 19 gt E 1 NC communication Use w l UJ 4 ae CEI OO Battery connector connection part magnified figure px h BTO Connect the BT1 BT2 BT3 of the battery box to the BTI In the case of series connection connect from to BTI J H The total length of battery cable from the battery unit to the last connected drive unit must be 30m or less 73 IB 1501238 A MDS EM Series Specifications Manual 5 Dedicated Options 5 1 2 Ball Screw Side Encoder OSA105ET2A 1 Specifications T Encoder ype T1 7CTUOBAUET A U Electrical characteristics Encoder resolution 1 000 000 pulse rev Detection method Absolute position method battery backup method Tolerable rotation speed at power off Note 500r min Encoder output data Serial data Power consumption 0 3A Inert
239. ys 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 Servo drive unit Servo drive unit connect to a DC relay for the control output COM COM 24VDC 24VDC 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

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