Mitsubishi MDS-C1 Specification Manual
en
MELDAS is a registered trademark of Mitsubishi Electric Corporation. Other company and product names that appear in this manual are trademarks or registered trademarks of their respective companies.
i
Introduction Thank you for selecting the Mitsubishi numerical control unit. This instruction manual describes the handling and caution points for using this AC servo/spindle. Incorrect handling may lead to unforeseen accidents, so always read this instruction manual thoroughly to ensure correct usage. Make sure that this instruction manual is delivered to the end user. Always store this manual in a safe place. All specifications for the MDS-C1 Series are described in this manual. However, each CNC may not be provided with all specifications, so refer to the specifications for the CNC on hand before starting use.
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.
ii
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".
DANGER
When there is a potential risk of fatal or serious injuries if handling is mistaken.
WARNING When operator could be fatally or seriously injured if handling is mistaken.
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 CAUTION may lead to major results depending on the situation. In any case, important information that must be observed is described.
The numeric control unit is configured of the control unit, operation board, servo drive unit, spindle drive unit, power supply, servomotor and spindle motor, etc. In this section "Precautions for safety", the following items are generically called the "motor".
Servomotor Spindle motor
In this section "Precautions for safety", the following items are generically called the "unit". Servo drive unit Spindle drive unit Power supply unit
iii
WARNING 1. Electric shock prevention
Do not open the front cover while the power is ON or during operation. Failure to observe this could lead to electric shocks. Do not operate the unit with the front cover removed. The high voltage terminals and charged sections will be exposed, and can cause electric shocks. Do not remove the front cover even when the power is OFF unless carrying out wiring work or periodic inspections. The inside of the servo drive units is charged, and can cause electric shocks. Wait at least 15 minutes after turning the power OFF before starting wiring, maintenance or inspections. Failure to observe this could lead to electric shocks. Ground the servo drive unit and servomotor with Class C (former class 3) grounding or higher. Wiring, maintenance and inspection work must be done by a qualified technician. Wire the servo drive unit and servomotor after installation. Failure to observe this could lead to electric shocks. Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks. Do not damage, apply forcible stress, place heavy items on the cables or get them caught. Failure to observe this could lead to electric shocks.
CAUTION 1. Fire prevention
Install the servo drive units, servomotors and regenerative resistor on noncombustible material. Direct installation on combustible material or near combustible materials could lead to fires. Shut off the power on the servo drive unit side if the servo drive unit fails. 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.
2. Injury prevention Do not apply a voltage other than that specified in Instruction 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.
The servo drive unit's fins, regenerative resistor and servomotor, etc., may reach high temperatures while the power is ON, and may remain hot for some time after the power is turned OFF. Touching these parts could result in burns.
iv
CAUTION 3. Various precautions
Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and electric shocks, etc.
(1) Transportation and installation
Correctly transport the product according to its weight. Use the servomotor's hanging bolts only when transporting the servomotor. Do not transport the servomotor when it is installed on the machine. Do not stack the products above the tolerable number. Do not hold the cables, axis or detector when transporting the servomotor. Do not hold the connected wires or cables when transporting the servo drive units. Do not hold the front cover when transporting the servo drive units. The unit could drop. Follow this Instruction Manual and install in a place where the weight can be borne. Do not get on top of or place heavy objects on the unit. Always observe the installation directions. Secure the specified distance between the servo drive unit and control panel's inner wall, and between other devices. Do not install or run a servo drive unit or servomotor that is damaged or missing parts. Do not block the intake or exhaust ports of the servomotor provided with a cooling fan. Do not let foreign objects enter the servo drive units or servomotors. In particular, if conductive objects such as screws or metal chips, etc., or combustible materials such as oil enter, rupture or breakage could occur. The servo drive units and servomotors are precision devices, so do not drop them or apply strong impacts to them.
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CAUTION
Store and use the units under the following environment conditions.
Conditions
Environment Servo drive unit Servomotor
Ambient temperature 0C to +55C (with no freezing) 0C to +40C (with no freezing)
Ambient humidity 90%RH or less (with no dew condensation)
80%RH or less (with no dew condensation)
Storage temperature 15C to +70C Storage humidity 90%RH or less (with no dew condensation)
Atmosphere Indoors (where unit is not subject to direct sunlight), with no corrosive gas, combustible gas, oil mist, or dust
Altitude 1,000m or less above sea level
Vibration 4.9m/s2 (0.5G) or less Follows each specifications manual
Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor slipping off during operation. Always install the servomotor with reduction gear in the designated direction. Failure to do so could lead to oil leaks. Structure the rotary sections of the servomotor so that it can never be touched during operation. Install a cover, etc., on the shaft. When installing a coupling to a servomotor shaft end, do not apply an impact by hammering, etc. The detector could be damaged. Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft could break. Store the motor in the package box. When inserting the shaft into the built-in IPM motor, do not heat the rotor higher than 130C. The magnet could be demagnetized, and the specifications characteristics will not be ensured. If the unit has been stored for a long time, always check the operation before starting actual operation. Please contact the Service Center or Service Station.
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CAUTION (2) Wiring
Correctly and securely perform the wiring. Failure to do so could lead to runaway of the
servomotor. Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of the servo drive unit. Correctly connect the output side (terminals U, V, W). Failure to do so could lead to abnormal operation of the servomotor.
Do not directly connect a commercial power supply to the servomotor. Failure to observe this could result in a fault. When using an inductive load such as a relay, always connect a diode as a noise measure parallel to the load.
COM (24VDC)
Control output signal
Servodrive unit
RA
COM (24VDC)
Servodrive unit
RAControl output signal
When using a capacitance load such as a lamp, always connect a protective resistor as a noise measure serial to the load. Do not reverse the direction of a diode which connect to a DC relay for the control output signals 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 connection manual, always ground the cable with a cable clamp, etc. Always separate the signals wires from the drive wire and power line. Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to the system.
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CAUTION (3) Trial operation and adjustment
Check and adjust each program and parameter before starting operation. Failure to do so could lead to unforeseen operation of the machine. Do not make remarkable adjustments and changes as the operation could become unstable.
(4) Usage methods
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 servo drive unit or servomotor.
Unqualified persons must not disassemble or repair the unit.
Never make modifications. Reduce magnetic damage by installing a noise filter. The electronic devices used near the servo drive unit could be affected by magnetic noise. Use the servo drive unit, servomotor and regenerative resistor with the designated combination. Failure to do so could lead to fires or trouble. The brake (magnetic brake) assembled into the servomotor are for holding, and must not be used for normal braking. There may be cases when holding is not possible due to the magnetic brake's life or the machine construction (when ball screw and servomotor are coupled via a timing belt, etc.). 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 the separate specifications manual for the power (input voltage, input frequency, tolerable sudden power failure time, etc.). Set all bits to "0" if they are indicated as not used or empty in the explanation on the bits. Do not use the dynamic brakes except during the emergency stop. Continuous use of the dynamic brakes could result in brake damage. If a breaker is shared by several power supply units, the breaker may not activate when a short-circuit fault occurs in a small capacity unit. This is dangerous, so never share the breakers.
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CAUTION (5) Troubleshooting
If a hazardous situation is predicted during power failure or product trouble, use a servomotor with magnetic brakes or install an external brake mechanism.
Use a double circuit configuration that allows the operation circuit for the magnetic brakes to be operated even by the external emergency stop signal.
MBR
24VDC
EMG
Magnetic brake
Servomotor
Shut off with the servomotor brake control output.
Shut off with NC brake control PLC output.
Always turn the input power OFF when an alarm occurs. Never go near the machine after restoring the power after a power failure, as the machine could start suddenly. (Design the machine so that personal safety can be ensured even if the machine starts suddenly.)
(6) Maintenance, inspection and part replacement Always carry out maintenance and inspection after backing up the servo drive unit's programs
or parameters. The capacity of the electrolytic capacitor will drop over time. 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 or Service Station for replacement. Do not perform a megger test (insulation resistance measurement) during inspections. If the battery low warning is issued, save the machining programs, tool data and parameters with an input/output unit, and then replace the battery. Do not short circuit, charge, overheat, incinerate or disassemble the battery.
(7) Disposal
Dispose of this unit as general industrial waste. Note that MDS Series unit with a heat dissipating fin protruding from the back of the unit contains substitute Freon. Do not dispose of this type of unit as general industrial waste. Always return to the Service Center or Service Station. Do not disassemble the servo drive unit or servomotor parts. Dispose of the battery according to local laws.
(8) General precautions
The drawings given in this Specifications and Maintenance Instruction 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.
CONTENTS
1. Introduction 1-1 Servo/spindle drive system configuration ......................................................................................... 1-2
1-1-1 System configuration ................................................................................................................. 1-2 1-1-2 Unit outline type ......................................................................................................................... 1-3
1-2 Explanation of type ........................................................................................................................... 1-4 1-2-1 Servomotor type......................................................................................................................... 1-4 1-2-2 Servo drive unit type .................................................................................................................. 1-8 1-2-3 Spindle motor type................................................................................................................... 1-10 1-2-4 Spindle drive unit type ............................................................................................................. 1-12 1-2-5 Power supply unit type............................................................................................................. 1-13 1-2-6 AC reactor type ........................................................................................................................ 1-14
2. Specifications 2-1 Servomotor ....................................................................................................................................... 2-2
2-1-1 Specifications list ....................................................................................................................... 2-2 2-1-2 Torque characteristics ............................................................................................................... 2-7
2-2 Spindle motor.................................................................................................................................. 2-10 2-2-1 Specifications........................................................................................................................... 2-10 2-2-2 Output characteristics .............................................................................................................. 2-15
2-3 Drive unit......................................................................................................................................... 2-20 2-3-1 Installation environment conditions.......................................................................................... 2-20 2-3-2 Servo drive unit ........................................................................................................................ 2-20 2-3-3 Spindle drive unit ..................................................................................................................... 2-22 2-3-4 Power supply unit..................................................................................................................... 2-22 2-3-5 AC reactor................................................................................................................................ 2-23 2-3-6 D/A output specifications for servo drive unit .......................................................................... 2-24 2-3-7 D/A output specifications for spindle drive unit........................................................................ 2-25 2-3-8 Explanation of each part .......................................................................................................... 2-26
2-4 Restrictions on servo control .......................................................................................................... 2-29 2-4-1 Restrictions of electronic gear setting value ............................................................................ 2-29 2-4-2 Restrictions on absolute position control ................................................................................. 2-31
3. Characteristics 3-1 Servomotor ....................................................................................................................................... 3-2
3-1-1 Environmental conditions........................................................................................................... 3-2 3-1-2 Quakeproof level........................................................................................................................ 3-2 3-1-3 Shaft characteristics................................................................................................................... 3-3 3-1-4 Oil/water standards.................................................................................................................... 3-4 3-1-5 Magnetic brake .......................................................................................................................... 3-5 3-1-6 Dynamic brake characteristics................................................................................................... 3-8
3-2 Spindle motor.................................................................................................................................. 3-10 3-2-1 Environmental conditions......................................................................................................... 3-10 3-2-2 Shaft characteristics................................................................................................................. 3-10
3-3 Drive unit characteristics................................................................................................................. 3-11 3-3-1 Environmental conditions......................................................................................................... 3-11 3-3-2 Heating value ........................................................................................................................... 3-12 3-3-3 Overload protection characteristics ......................................................................................... 3-13
4. Dedicated Options 4-1 Servo options.................................................................................................................................... 4-2
4-1-1 Battery and terminator option (mandatory selection)................................................................. 4-3 4-1-2 Dynamic brake unit (MDS-B-DBU) (mandatory selection for large capacity)............................ 4-8 4-1-3 Ball screw side detector........................................................................................................... 4-10 4-1-4 Machine side detector.............................................................................................................. 4-11 4-1-5 Detector conversion unit (MDS-B-HR)..................................................................................... 4-13 4-1-6 Signal divider unit (MDS-B-SD) ............................................................................................... 4-15
4-2 Spindle option ................................................................................................................................. 4-17
4-2-1 Magnetic sensor....................................................................................................................... 4-19 4-2-2 Spindle side detector (OSE-1024-3-15-68, OSE-1024-3-15-68-8) ......................................... 4-21 4-2-3 C-axis detector (OSE90K) ....................................................................................................... 4-23 4-2-4 C-axis detector (MBE90K) ....................................................................................................... 4-25 4-2-5 C-axis detector (MHE90K)....................................................................................................... 4-26 4-2-6 Spindle side PLG (MXE128/180/256/512)............................................................................... 4-27 4-2-7 Detector conversion unit (MDS-B-PJEX)................................................................................. 4-31
4-3 Cables and connectors ................................................................................................................... 4-33 4-3-1 Cable connection diagram ....................................................................................................... 4-33 4-3-2 List of cables and connectors .................................................................................................. 4-34
5. Peripheral Devices 5-1 Selection of wire ............................................................................................................................... 5-2
5-1-1 Example of wires by unit ............................................................................................................ 5-2 5-2 Selection the AC reactor, contactor and no-fuse breaker ................................................................ 5-5
5-2-1 Standard selection ..................................................................................................................... 5-5 5-2-2 Selection when a contactor is shared........................................................................................ 5-6
5-3 Earth leakage breaker ...................................................................................................................... 5-7 5-4 Branch-circuit protection................................................................................................................... 5-8
5-4-1 Circuit protector.......................................................................................................................... 5-8 5-4-2 Fuse protection .......................................................................................................................... 5-8
5-5 Noise filter ......................................................................................................................................... 5-9 5-6 Surge absorber ............................................................................................................................... 5-10 5-7 Speedometer and load meter ......................................................................................................... 5-11 5-8 Cable for peripheral control ............................................................................................................ 5-12
5-8-1 Cable for external emergency stop.......................................................................................... 5-12 5-8-2 Cable for servomotor magnetic brake...................................................................................... 5-13
Appendix 1. Outline Dimension Drawings Appendix 1-1 Servomotor outline dimension drawings ........................................................................A1-2
Appendix 1-1-1 HC Series.................................................................................................................A1-2 Appendix 1-1-2 HA Series.................................................................................................................A1-8
Appendix 1-2 Outline dimension drawings of spindle motor...............................................................A1-12 Appendix 1-2-1 SJ Series................................................................................................................A1-12 Appendix 1-2-2 SJ-V Series............................................................................................................A1-15 Appendix 1-2-3 SJ-VS Series .........................................................................................................A1-25 Appendix 1-2-4 SJ-PMF Series (IPM motor)...................................................................................A1-27
Appendix 1-3 Unit outline dimension drawings...................................................................................A1-28 Appendix 1-3-1 Servo/spindle drive unit .........................................................................................A1-28 Appendix 1-3-2 Power supply unit ..................................................................................................A1-37 Appendix 1-3-3 AC rector................................................................................................................A1-41
Appendix 2. Cable and Connector Specifications Appendix 2-1 Selection of cable ...........................................................................................................A2-2
Appendix 2-1-1 Cable wire and assembly.........................................................................................A2-2 Appendix 2-1-2 Flexible conduits ......................................................................................................A2-4
Appendix 2-2 Cable connection diagram..............................................................................................A2-6 Appendix 2-3 Connector outline dimension drawings ........................................................................A2-12 Appendix 3. Selection Appendix 3-1 Selecting the servomotor series .....................................................................................A3-2
Appendix 3-1-1 Motor series characteristics .....................................................................................A3-2 Appendix 3-1-2 Servomotor precision...............................................................................................A3-3
Appendix 3-2 Selection of servomotor capacity....................................................................................A3-4 Appendix 3-2-1 Load inertia ratio ......................................................................................................A3-4 Appendix 3-2-2 Short time characteristics ........................................................................................A3-4 Appendix 3-2-3 Continuous characteristics.......................................................................................A3-5
Appendix 3-3 Example of servo selection.............................................................................................A3-7
Appendix 3-3-1 Motor selection calculation ......................................................................................A3-7 Appendix 3-3-2 Servo selection results...........................................................................................A3-10 Appendix 3-3-3 Motor shaft conversion load torque .......................................................................A3-11 Appendix 3-3-4 Expressions for load inertia calculation .................................................................A3-12
Appendix 3-4 Selecting the power supply...........................................................................................A3-13 Appendix 3-4-1 Selecting according to the continuous rated capacity ...........................................A3-13 Appendix 3-4-2 Selection with maximum momentary capacity.......................................................A3-15 Appendix 3-4-3 Selection example .................................................................................................A3-16
Appendix 4. Explanation of Large Capacity Spindle Unit Specifications Appendix 4-1 Explanation of large capacity spindle unit specifications ...............................................A4-2
Appendix 4-1-1 Outline......................................................................................................................A4-2 Appendix 4-1-2 List of units...............................................................................................................A4-2 Appendix 4-1-3 Selection of AC reactor (B-AL), contactor and NFB ................................................A4-2 Appendix 4-1-4 Outline dimension drawings.....................................................................................A4-3 Appendix 4-1-5 Panel cut dimension drawing...................................................................................A4-8 Appendix 4-1-6 Heating value...........................................................................................................A4-9 Appendix 4-1-7 Selecting the power capacity ...................................................................................A4-9 Appendix 4-1-8 Selecting the wire size .............................................................................................A4-9 Appendix 4-1-9 Drive unit connection screw size ...........................................................................A4-10 Appendix 4-1-10 Connecting each unit ...........................................................................................A4-10 Appendix 4-1-11 Restrictions ..........................................................................................................A4-12 Appendix 4-1-12 Parameters ..........................................................................................................A4-14 Appendix 4-1-13 Precautions..........................................................................................................A4-14
Appendix 5. Transportation Restrictions for Lithium Batteries Appendix 5-1 Transportation restrictions for lithium batteries ................................................................A5-2
Appendix 5-1-1 Restriction for packing .............................................................................................A5-2 Appendix 5-1-2 Issuing domestic law of the United State for primary lithium battery transportationA5-5
Appendix 6. Compliance to EU EC Directives Appendix 6-1 Compliance to EC Directives..........................................................................................A6-2
Appendix 6-1-1 European EC Directives ..........................................................................................A6-2 Appendix 6-1-2 Cautions for EC Directive compliance .....................................................................A6-2
Appendix 7. EMC Installation Guidelines Appendix 7-1 Introduction.....................................................................................................................A7-2 Appendix 7-2 EMC instructions ............................................................................................................A7-2 Appendix 7-3 EMC measures...............................................................................................................A7-3 Appendix 7-4 Measures for panel structure..........................................................................................A7-3
Appendix 7-4-1 Measures for control panel unit ...............................................................................A7-3 Appendix 7-4-2 Measures for door....................................................................................................A7-4 Appendix 7-4-3 Measures for operation board panel........................................................................A7-4 Appendix 7-4-4 Shielding of the power supply input section ............................................................A7-4
Appendix 7-5 Measures for various cables...........................................................................................A7-5 Appendix 7-5-1 Measures for wiring in panel....................................................................................A7-5 Appendix 7-5-2 Measures for shield treatment .................................................................................A7-5 Appendix 7-5-3 Servomotor power cable..........................................................................................A7-6 Appendix 7-5-4 Servomotor feedback cable.....................................................................................A7-6 Appendix 7-5-5 Spindle motor power cable ......................................................................................A7-7 Appendix 7-5-6 Spindle motor feedback cable .................................................................................A7-7
Appendix 7-6 EMC countermeasure parts............................................................................................A7-8 Appendix 7-6-1 Shield clamp fitting...................................................................................................A7-8 Appendix 7-6-2 Ferrite core ..............................................................................................................A7-9 Appendix 7-6-3 Power line filter ......................................................................................................A7-10 Appendix 7-6-4 Surge protector ......................................................................................................A7-15
Appendix 8. EC Declaration of conformity Appendix 8-1 Compliance to EC Directives..........................................................................................A8-2
Appendix 8-1-1 Low voltage equipment............................................................................................A8-2 Appendix 8-1-2 Electromagneic compatibility ...................................................................................A8-9
Appendix 9. Instruction Manual for Compliance with UL/c-UL Standard Appendix 9 Instruction Manual for Compliance with UL/c-UL Standard...............................................A9-2 Appendix 10. Compliance with China Compulsory Product Certification (CCC Certification) System Appendix 10-1 Outline of China Compulsory Product Certification System.......................................A10-2 Appendix 10-2 First Catalogue of Products subject to Compulsory Product Certification .................A10-2 Appendix 10-3 Precautions for Shipping Products .............................................................................A10-3 Appendix 10-4 Application for Exemption...........................................................................................A10-4 Appendix 10-5 Mitsubishi NC Product Subject to/Not Subject to CCC Certification ..........................A10-5
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1. Introduction 1-1 Servo/spindle drive system configuration .......................................................................................... 1-2
1-1-1 System configuration................................................................................................................... 1-2 1-1-2 Unit outline type........................................................................................................................... 1-3
1-2 Explanation of type............................................................................................................................. 1-4 1-2-1 Servomotor type .......................................................................................................................... 1-4 1-2-2 Servo drive unit type.................................................................................................................... 1-8 1-2-3 Spindle motor type .................................................................................................................... 1-10 1-2-4 Spindle drive unit type ............................................................................................................... 1-12 1-2-5 Power supply unit type .............................................................................................................. 1-13 1-2-6 AC reactor type ......................................................................................................................... 1-14
1. Introduction
1 - 2
1-1 Servo/spindle drive system configuration
1-1-1 System configuration 1-axis servo drive
unit (MDS-C1-V1)
Contactor (Note) Prepared by user
From NC
2-axis servo drive unit
(MDS-C1-V2)
Spindle drive unit (MDS-C1-SP)
Power supply unit (MDS-C1-CV)
Battery unit (MDS-A-BT)
Linear scale (for full closed control)
(Note) Prepared by user
To 2nd and 3rd axis servo
Servomotor Spindle motor
Magnesensor or spindle side detector
Terminator
Connect a terminator when the battery unit is not used.
AC reactor (B-AL)
NFB (Note) Prepared by user
3-phase 200VAC power supply
L+ L
Breaker or
fuse (Note)
Prepared by user
1. Introduction
1 - 3
1-1-2 Unit outline type
Unit outline type A0 A1 A2
Outline dimensions
[mm]
H:380
W:60
D:200
Wiring allowance at front: 50mm A0 type does not have fins
H:380
200
W:60
D:260
Fin
Wiring allowance at front: 50mm Required ventilation space at back: 15mm
H:380
200
W:60
D:220
Fin
Wiring allowance at front: 50mm Heat radiation allowance at back: 15mm
Heat dissipa- tion method In-panel heat radiation Heat radiated outside panel
(forced wind cooling) Heat radiated outside panel
(natural air cooling)
Unit outline type B1 C1 D1/D2
Outline dimensions
[mm]
H:380
200
W:90
D:260
Fin
Wiring allowance at front: 50mm Required ventilation space at back: 15mm
H:380
200
W:120
D:260
Fin
Wiring allowance at front: 50mm Required ventilation space at back: 15mm
H:380
200
W:150
D:260 /263
Fin
Wiring allowance at front: 50mm Required ventilation space at back: 15mm (D2: 12mm)
Heat dissipa- tion method
Heat radiated outside panel (forced wind cooling)
Heat radiated outside panel (forced wind cooling)
Heat radiated outside panel (forced wind cooling)
(Note) Refer to "Appendix 1 Outline dimension drawings" for detailed outline drawings. (For customers switching from MDS-A/B Series) The MDS-C1 Series incorporates a highly efficient heat dissipating structure, so the depth of the fin section is smaller than the MDS-A/B Series. Units with an "S" at the end of the type have a smaller unit width than the MDS-A/B Series. When designing the control panel with these unit outline dimensions, it may not be possible to mount the conventional drive unit.
1. Introduction
1 - 4
1-2 Explanation of type 1-2-1 Servomotor type
Motor series Rated output capacity Type
0.5kW to 9.0kW HC52, HC102, HC152, HC202, HC352, HC452, HC702, HC902
HC Series (Note 1) 0.5kW to 7.0kW
HC53, HC103, HC153, HC203, HC353, HC453, HC703
HCR Series (Note 1) 1.0kW to 5.0kW HC103R, HC153R, HC203R, HC353R, HC503R
HAN Series (Note 2, 3) 0.05kW to 0.45kW HA053N, HA13N, HA23N, HA33N
HA-LF Series (Note 1) 11kW to 15kW HA-LF11K2-S8, HA-LF15K2-S8 (Note 1) The standard type complied with EN Standards and UL Standards. (Note 2) The standard type complied with EN Standards. (Note 3) Rated output capacity 0.5kW to 9kW motors are available with the HA N Series.
1. Introduction
1 - 5
(1) HC, HC R Series
HC (1) (2) (3) (4) - (5) (5) Detector Sym-
bol Detection method Resolution Detector type
E42 100,000p/rev OSE104S2 E51
Incremental 1,000,000p/rev OSE105S2
A42 100,000p/rev OSA104S2 A51
Absolute position 1,000,000p/rev OSA105S2
(4) Protective structure
Sym-
bol Protective structure
None IP65 (Note) HCR has only IP65 compliance. W IP67 (3) Shaft end structure Sym-
bol Shaft end structure
S Straight (Note) Only the straight type is available for the HC T Taper 2kW and higher capacities and HCR 3.5kW and higher capacities. (2) Magnetic brakes Sym-
bol Magnetic brakes
None None B With magnetic
brakes
(1) Rated output and rated rotation speed HC Series HC R Series
Rating 2000r/min Rating 3000r/min Rating 3000r/min Sym-
bol Rated output Sym- bol Rated output Sym-
bol Rated output
52 0.5kW 53 0.5kW 103R 1.0kW 102 1.0kW 103 1.0kW 153R 1.5kW 152 1.5kW 153 1.5kW 203R 2.0kW 202 2.0kW 203 2.0kW 353R 3.5kW 352 3.5kW 353 3.5kW 503R 5.0kW 452 4.5kW 453 4.5kW 702 7.0kW 703 7.0kW 902 9.0kW
Serial No. Rated rotation speed
Motor type
Rated output
MITSUBISHI
SER.No.XXXXXXXXX DATE 98-9 SPEED 2000r/min OUTPUT 1kW IEC34-1 1994 INPUT 3AC 123V 6.0A
HC102S AC SERVO MOTOR
MITSUBISHI ELECTRIC MADE IN JAPAN
Motor rating nameplate
Detector rating nameplate
ROTARY ENCODER OSA104S2 MITSUBISHI ELECTRIC CORP.
SER. X X X X X X X X X X X DATE 9809
MADE IN JAPAN A A1 Serial No.
Detector type
1. Introduction
1 - 6
(2) HA N Series
HA (1) N (2) (3) (4) - (5) (5) Detector Sym-
bol Detection method Resolution Detector type
E42 100,000p/rev OSE104S E51
Incremental 1,000,000p/rev OSE105S
A42 100,000p/rev OSA104S A51
Absolute position 1,000,000p/rev OSA105S
(4) Protective structure Sym-
bol Protective structure
None IP54 D5 IP65 (3) Shaft end structure Sym-
bol Shaft end structure
(Note) Only the straight type is available for HA053N and 13N.
S Straight T Taper (2) Magnetic brakes Sym-
bol Magnetic brakes
None None B With magnetic
brakes
(1) Rated output and rated rotation speed Rating 3000r/min
Sym- bol Rated output
053 0.05kW 13 0.1kW 23 0.3kW 33 0.45kW
ENCODER ABS 100000p/rev MOTOR 0.3kW 3000r/min TYPE HA23NBS-A42
MITSUBISHI ELECTRIC CORPORATION JAPAN DATE 9706SERIAL# XXXXXXXXXXX
SERVO MOTOR ASSY MITSUBISHI
Serial No.
Detector
Motor type Rated output
Rating nameplate
1. Introduction
1 - 7
(3) HA-LF Series
HA-LF (1) (2) -S8- (3) (3) Detector Detection
method Resolution Detector type
E42 100,000p/rev OSE104S1 E51
Incremental 1,000,000p/rev OSE105S1
A42 100,