Mitsubishi Electric MELDAS MDS-R Series User manual

MELDAS is a registered trademark of Mitsubishi Electric Corporation.
Other company and product names that appear in this manual are trademarks or registered
trademarks of their respective companies.

Introduction
Thank you for selecting the Mitsubishi numerical control unit.
This instruction manual describes the handling and caution points for using this AC
servo/spindle.
Incorrect handling may lead to unforeseen accidents, so always read this instruction
manual thoroughly to ensure correct usage.
Make sure that this instruction manual is delivered to the end user.
Always store this manual in a safe place.
In order to confirm if all function specifications described in this manual are applicable,
refer to the specifications for each CNC.
Notes on Reading This Manual
(1) Since the description of this specification manual deals with NC in general, for the
specifications of individual machine tools, refer to the manuals issued by the
respective machine manufacturers. The "restrictions" and "available functions"
described in the manuals issued by the machine manufacturers have precedence
to those in this manual.
(2) This manual describes as many special operations as possible, but it should be
kept in mind that items not mentioned in this manual cannot be performed.

Precautions for safety
Please read this manual and auxiliary documents before starting installation, operation,
maintenance or inspection to ensure correct usage. Thoroughly understand the device, safety
information and precautions before starting operation.
The safety precautions in this instruction manual are ranked as "WARNING" and "CAUTION".
DANGER When there is a potential risk of fatal or serious injuries if
handling is mistaken.
WARNING When a dangerous situation, or fatal or serious injuries may
occur 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 signs indicating prohibited and mandatory matters are explained below.
Indicates a prohibited matter. For example, "Fire Prohibited"
is indicated as .
Indicates a mandatory matter. For example, grounding is
indicated as .
After reading this specifications and instructions manual, store it where the user can access it
easily for reference.
The numeric control unit is configured of the control unit, operation board, servo drive unit,
spindle drive unit, power supply, servomotor and spindle motor, etc.
In this section "Precautions for safety", the following items are generically called the "motor".
• Servomotor
• Linear servomotor
• Spindle motor
In this section "Precautions for safety", the following items are generically called the "unit".
• Servo drive unit
• Spindle drive unit
• Power supply unit
• Scale interface unit
• Magnetic pole detection unit
POINT Important matters that should be understood for operation of this machine
are indicated as a POINT in this manual.

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 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.
Wait at least 15 minutes after turning the power OFF, confirm that the CHARGE lamp has
gone out, and check the voltage between P and N terminals with a tester, etc., before starting
wiring, maintenance or inspections. Failure to observe this could lead to electric shocks.
Ground the unit and motor following the standards set forth by each country.
Wiring, maintenance and inspection work must be done by a qualified technician.
Wire the servo drive unit and servomotor after installation. Failure to observe this could lead to
electric shocks.
Do not touch the switches with wet hands. Failure to observe this could lead to electric shocks.
Do not damage, apply forcible stress, place heavy items on the cables or get them caught.
Failure to observe this could lead to electric shocks.
2. Injury prevention
The linear servomotor uses a powerful magnet on the secondary side, and could adversely
affect pacemakers, etc.
During installation and operation of the machine, do not place portable items that could
malfunction or fail due to the influence of the linear servomotor's magnetic force.
Take special care not to pinch fingers, etc., when installing (and unpacking) the linear
servomotor.
In the system where the optical communication with CNC is executed, do not see directly the
light generated from CN1A/CN1B connector of drive unit or the end of cable. When the light
gets into eye, you may feel something is wrong for eye.
(The light source of optical communication corresponds to class1 defined in JISC6802 or
IEC60825-1.)

CAUTION
1. Fire prevention
Install the units, motors and regenerative resistor on non-combustible material. Direct
installation on combustible material or near combustible materials could lead to fires.
Always install a no-fuse breaker and contactor on the servo drive unit power input as explained
in this manual. Refer to this manual and select the correct no-fuse breaker and contactor. An
incorrect selection could result in fire.
Shut off the power on the unit side if a fault occurs in the units. Fires could be caused if a large
current continues to flow.
When using a regenerative resistor, provide a sequence that shuts off the power with the
regenerative resistor's error signal. The regenerative resistor could abnormally overheat and
cause a fire due to a fault in the regenerative transistor, etc.
The battery unit could heat up, ignite or rupture if submerged in water, or if the poles are
incorrectly wired.
Cut off the main circuit power with the contactor when an alarm or emergency stop occurs.
2. Injury prevention
Do not apply a voltage other than that specified in this manual, on each terminal. Failure to
observe this item could lead to ruptures or damage, etc.
Do not mistake the terminal connections. Failure to observe this item could lead to ruptures or
damage, etc.
Do not mistake the polarity (
+,
–
). Failure to observe this item could lead to ruptures or
damage, etc.
Do not touch the radiation fin on unit back face, regenerative resistor or motor, etc., or place
parts (cables, etc.) while the power is turned ON or immediately after turning the power OFF.
These parts may reach high temperatures, and can cause burns or part damage.
Structure the cooling fan on the unit back face, etc., etc so that it cannot be touched after
installation. Touching the cooling fan during operation could lead to injuries.

CAUTION
3. Various precautions
Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and
electric shocks, etc.
(1) Transportation and installation
Correctly transport the product according to its weight.
Use the motor's hanging bolts only when transporting the motor. Do not transport the
machine when the motor is installed on the machine.
Do not stack the products above the tolerable number.
Follow this manual and install the unit or motor in a place where the weight can be borne.
Do not get on top of or place heavy objects on the unit.
Do not hold the cables, axis or detector when transporting the motor.
Do not hold the connected wires or cables when transporting the units.
Do not hold the front cover when transporting the unit. The unit could drop.
Always observe the installation directions of the units or motors.
Secure the specified distance between the units and control panel, or between the servo drive
unit and other devices.
Do not install or run a unit or motor that is damaged or missing parts.
Do not block the intake or exhaust ports of the motor provided with a cooling fan.
Do not let foreign objects enter the units or motors. In particular, if conductive objects such as
screws or metal chips, etc., or combustible materials such as oil enter, rupture or breakage
could occur.
The units and motors are precision devices, so do not drop them or apply strong impacts to
them.

CAUTION
Store and use the units under the following environment conditions.
Environment Unit Motor
Ambient
temperature
Operation: 0 to 55°C (with no freezing),
Storage / Transportation: -15°C to 70°C
(with no freezing)
Operation: 0 to 40°C (with no freezing),
Storage: -15°C to 70°C (Note 2) (with no freezing)
Ambient
humidity
Operation: 90%RH or less
(with no dew condensation)
Storage / Transportation: 90%RH or less
(with no dew condensation)
Operation: 80%RH or less
(with no dew condensation),
Storage: 90%RH or less
(with no dew condensation)
Atmosphere Indoors (no direct sunlight)
With no corrosive gas, inflammable gas, oil mist, dust or conductive fine particles
Altitude
Operation/Storage: 1000 meters or less above
sea level,
Transportation: 13000 meters or less above sea
level
Operation: 1000 meters or less above sea level,
Storage: 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 servomotor.
Securely fix the servomotor to the machine. Insufficient fixing could lead to the servomotor
slipping off during operation.
Always install the servomotor with reduction gear in the designated direction. Failure to do so
could lead to oil leaks.
Structure the rotary sections of the motor so that it can never be touched during operation.
Install a cover, etc., on the shaft.
When installing a coupling to a servomotor shaft end, do not apply an impact by hammering,
etc. The detector could be damaged.
Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft could
break.
Store the motor in the package box.
When inserting the shaft into the built-in IPM motor, do not heat the rotor higher than 130°C.
The magnet could be demagnetized, and the specifications characteristics will not be
ensured.
Always use a nonmagnetic tool (explosion-proof beryllium copper alloy safety tool: NGK
Insulators, etc.) when installing the linear servomotor.
Always provide a mechanical stopper on the end of the linear servomotor's travel path.
If the unit has been stored for a long time, always check the operation before starting actual
operation. Please contact the Service Center, Service Station, Sales Office or delayer.

CAUTION
(2) Wiring
Correctly and securely perform the wiring. Failure to do so could lead to abnormal operation of
the motor.
Do not install a condensing capacitor, surge absorber or radio noise filter on the output side of
the drive unit.
Correctly connect the output side of the drive unit (terminals U, V, W). Failure to do so could
lead to abnormal operation of the motor.
When using a power regenerative power supply unit, always install an AC reactor for each
power supply unit.
In the main circuit power supply side of the unit, always install an appropriate no-fuse breaker
or contactor for each unit. No-fuse breaker or contactor cannot be shared by several units.
Always connect the motor to the drive unit's output terminals (U, V, W).
Do not directly connect a commercial power supply to the servomotor. Failure to observe this
could result in a fault.
When using an inductive load such as a relay, always connect a diode as a noise measure
parallel to the load.
When using a capacitance load such as a lamp, always connect a protective resistor as a noise
measure serial to the load.
Do not reverse the direction of a diode
which connect to a DC relay for the
control output signals such as
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.
COM
(24VDC)
Control output
signal
Servodrive unit
RA
COM
(24VDC)
Servodrive unit
RA
Control output
signal
Do not connect/disconnect the cables connected between the units while the power is ON.
Securely tighten the cable connector fixing screw or fixing mechanism. An insecure fixing could
cause the cable to fall off while the power is ON.
When using a shielded cable instructed in the instruction manual, always ground the cable with
a cable clamp, etc.
Always separate the signals wires from the drive wire and power line.
Use wires and cables that have a wire diameter, heat resistance and flexibility that conforms to
the system.

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 of parameter as the operation could
become unstable.
The usable motor and unit combination is predetermined. Always check the models before
starting trial operation.
If the axis is unbalanced due to gravity, etc., balance the axis using a counterbalance, etc.
The linear servomotor does not have a stopping device such as magnetic brakes. Install a
stopping device on the machine side.
(4) Usage methods
In abnormal state, install an external emergency stop circuit so that the operation can be
stopped and power shut off immediately.
Turn the power OFF immediately if smoke, abnormal noise or odors are generated from the unit
or motor.
Do not disassemble or repair this product.
Never make modifications.
When an alarm occurs, the machine will start suddenly if an alarm reset (RST) is carried out
while an operation start signal (ST) is being input. Always confirm that the operation signal is
OFF before carrying out an alarm reset. Failure to do so could lead to accidents or injuries.
Reduce magnetic damage by installing a noise filter. The electronic devices used near the
unit could be affected by magnetic noise. Install a line noise filter, etc., if there is a risk of
magnetic noise.
Use the unit, motor and regenerative resistor with the designated combination. Failure to do so
could lead to fires or trouble.
The brake (magnetic brake) of the servomotor are for holding, and must not be used for normal
braking.
There may be cases when holding is not possible due to the magnetic brake's life 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 each specification for the power (input
voltage, input frequency, tolerable sudden power failure time, etc.).
Set all bits to "0" if they are indicated as not used or empty in the explanation on the bits.
Do not use the dynamic brakes except during the emergency stop. Continued use of the
dynamic brakes could result in brake damage.
If a no-fuse breaker for the main circuit power supply is shared by several units, the no-fuse
breaker may not activate when a short-circuit fault occurs in a small capacity unit. This is
dangerous, so never share the no-fuse breakers.

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.
If an alarm occurs, remove the cause, and secure the safety before resetting the alarm.
Never go near the machine after restoring the power after a power failure, as the machine
could start suddenly. (Design the machine so that personal safety can be ensured even if the
machine starts suddenly.)
(6) Maintenance, inspection and part replacement
Always backup the programs and parameters before starting maintenance or inspections.
The capacity of the electrolytic capacitor will drop over time due to self-discharging, etc. To
prevent secondary disasters due to failures, replacing this part every five years when used
under a normal environment is recommended. Contact the Service Center, Service Station,
Sales Office or delayer for repairs or part replacement.
Do not perform a megger test (insulation resistance measurement) during inspections.
If the battery low warning is issued, back up the machining programs, tool data and
parameters with an input/output unit, and then replace the battery.
Do not short circuit, charge, overheat, incinerate or disassemble the battery.
The heat radiating fin used in some units contains substitute Freon as the refrigerant.Take
care not to damage the heat radiating fin during maintenance and replacement work.
(7) Disposal
Do not dispose of this type of unit as general industrial waste. Always contact the Service
Center, Service Station, Sales Office or delayer for repairs or part replacement.
Do not disassemble the unit or motor.
Dispose of the battery according to local laws.
Always return the secondary side (magnet side) of the linear servomotor to the Service
Center or Service Station.
When incinerating optical communication cable, hydrogen fluoride gas or hydrogen chloride
gas which is corrosive and harmful may be generated. For disposal of optical communication
cable, request for specialized industrial waste disposal services that has incineration facility
for disposing hydrogen fluoride gas or hydrogen chloride gas.

CAUTION
(8) Transportation
The unit and motor are precision parts and must be handled carefully.
According to a United Nations Advisory, the battery unit and battery must be transported
according to the rules set forth by the International Civil Aviation Organization (ICAO),
International Air Transportation Association (IATA), International Maritime Organization
(IMO), and United States Department of Transportation (DOT), etc.
(9) General precautions
The drawings given in this manual show the covers and safety partitions, etc., removed to provide a
clearer explanation. Always return the covers or partitions to their respective places before starting
operation, and always follow the instructions given in this manual.

{Treatment of waste {
The following two laws will apply when disposing of this product. Considerations must be made to each
law. The following laws are in effect in Japan. Thus, when using this product overseas, the local laws will
have a priority. If necessary, indicate or notify these laws to the final user of the product.
1. Requirements for "Law for Promotion of Effective Utilization of Resources"
(1) Recycle as much of this product as possible when finished with use.
(2) When recycling, often parts are sorted into steel scraps and electric 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"
(1) Mitsubishi recommends recycling and selling the product when no longer needed according to
item (1) above. The user should make an effort to reduce waste in this manner.
(2) When disposing a product that cannot be resold, it shall be treated as a waste product.
(3) The treatment of industrial waste must be commissioned to a licensed industrial waste treatment
contractor, and appropriate measures, including a manifest control, must be taken.
(4) Batteries correspond to "primary batteries", and must be disposed of according to local disposal
laws.

CONTENTS
1. Introduction
1-1 System configuration...............................................................................................................................1-2
1-2 Explanation of type..................................................................................................................................1-3
1-2-1 Servomotor type.........................................................................................................................1-3
1-2-2 Servo drive unit type..................................................................................................................1-4
2. Specifications
2-1 Servomotor ..............................................................................................................................................2-2
2-1-1 Specifications list .......................................................................................................................2-2
2-1-2 Torque characteristics................................................................................................................2-3
2-1-3 Outline dimension drawings.......................................................................................................2-4
2-2 Servo drive unit......................................................................................................................................2-16
2-2-1 Installation environment conditions..........................................................................................2-16
2-2-2 Specifications list .....................................................................................................................2-16
2-2-3 Outline dimension drawings.....................................................................................................2-17
2-2-4 Explanation of each part..........................................................................................................2-21
3. Characteristics
3-1 Drive unit characteristics .........................................................................................................................3-2
3-1-1 Heating value.............................................................................................................................3-2
3-1-2 Overload protection characteristics ...........................................................................................3-3
3-2 Servomotor ..............................................................................................................................................3-7
3-2-1 Shaft characteristics...................................................................................................................3-7
3-2-2 Magnetic brake ..........................................................................................................................3-8
3-2-3 Dynamic brake characteristics.................................................................................................3-11
4. Dedicated Options
4-1 Regenerative option.................................................................................................................................4-2
4-1-1 Regenerative resistor unit..........................................................................................................4-4
4-1-2 Regenerative resistor.................................................................................................................4-6
4-2 Machine side detector .............................................................................................................................4-8
4-3 Battery and terminator option..................................................................................................................4-9
4-3-1 Terminator (A-TM) .....................................................................................................................4-9
4-3-2 Battery (ER6)...........................................................................................................................4-10
4-3-3 Battery unit (MDS-A-BT)..........................................................................................................4-11
4-4 Relay terminal block (MR-J2CN3TM)...................................................................................................4-12
4-5 Cables and connectors..........................................................................................................................4-13
4-5-1 Cable connection diagram.......................................................................................................4-13
4-5-2 Cable and connector options...................................................................................................4-14
5. Peripheral Devices
5-1 Selecting the wire size.............................................................................................................................5-2
5-1-1 Example of wires by unit ..............................................................................................................5-2
5-2 Selection of no-fuse breaker and contactor............................................................................................5-4
5-2-1 Selection of no-fuse breaker......................................................................................................5-4
5-2-2 Selection of contactor ................................................................................................................5-5
5-3 Selection of earth leakage breaker .........................................................................................................5-6
5-4 Selection of control power supply ...........................................................................................................5-7
5-5 Noise filter ................................................................................................................................................5-8
5-6 Surge absorber........................................................................................................................................5-9
5-7 Relay......................................................................................................................................................5-10

6. Installation
6-1 Installing the servomotor .........................................................................................................................6-2
6-1-1 Environmental conditions...........................................................................................................6-2
6-1-2 Vibration-resistance strength.....................................................................................................6-2
6-1-3 Precautions for mounting load (Preventing impact on shaft).....................................................6-3
6-1-4 Installation direction...................................................................................................................6-3
6-1-5 Oil and waterproofing measures................................................................................................6-3
6-1-6 Cable stress...............................................................................................................................6-5
6-2 Installation of the units.............................................................................................................................6-6
6-2-1 Environmental conditions...........................................................................................................6-6
6-2-2 Installation direction and clearance ...........................................................................................6-7
6-2-3 Prevention of foreign matter entry ...........................................................................................6-10
6-2-4 Panel installation hole machining drawings (Panel cut drawings)...........................................6-10
6-2-5 Heating value...........................................................................................................................6-11
6-2-6 Heat radiation countermeasures..............................................................................................6-12
6-3 Noise measures.....................................................................................................................................6-15
7. Wiring and Connection
7-1 Part system connection diagram.............................................................................................................7-3
7-2 Main circuit and control circuit connectors..............................................................................................7-4
7-2-1 Connector pin assignment.........................................................................................................7-4
7-2-2 Main circuit and control circuit connector signal names and applications.................................7-5
7-3 NC and drive unit connection..................................................................................................................7-6
7-4 Motor and detector connection................................................................................................................7-7
7-4-1 Connection of servomotor HF Series.........................................................................................7-7
7-5 Connection of main circuit power supply..............................................................................................7-10
7-6 Connection of regenerative resistor......................................................................................................7-11
7-6-1 Connection of external option regeneration resistance unit .................................................... 7-11
7-6-2 Connection of external regenerative resistor...........................................................................7-12
7-7 Wiring of contactors...............................................................................................................................7-14
7-7-1 Contactor control......................................................................................................................7-14
7-7-2 Contactor control signal (MC) output circuit.............................................................................7-15
7-7-3 Contactor power ON sequences..............................................................................................7-16
7-7-4 Contactor shutoff sequences...................................................................................................7-16
7-7-5 Monitor of contactor operation.................................................................................................7-17
7-8 Wiring of the motor brake......................................................................................................................7-18
7-8-1 Motor brake control signal (MBR) output circuit ......................................................................7-18
7-8-2 Motor brake release sequence................................................................................................7-19
7-8-3 Control during the servo OFF command .................................................................................7-19
7-8-4 Operation sequences when an emergency stop occurs..........................................................7-19
7-9 Wiring of an external emergency stop ..................................................................................................7-20
7-9-1 External emergency stop setting .............................................................................................7-20
7-9-2 External emergency stop signal (EMGX) input circuit............................................................. 7-21
7-9-3 External emergency stop operation sequence........................................................................7-22
8. Setup
8-1 Servo drive unit initial settings.................................................................................................................8-2
8-1-1 Setting the rotary switch ............................................................................................................8-2
8-1-2 Transition of LED display after power is turned ON ..................................................................8-3
8-2 Setting the initial parameters...................................................................................................................8-4
8-2-1 Setting the standard parameters ...............................................................................................8-4
8-2-2 Limitations to electronic gear setting value................................................................................8-8
8-2-3 Standard parameter list according to servomotor......................................................................8-9
8-3 List of parameters..................................................................................................................................8-11

9. Adjustment
9-1 Servo adjustment data output function (D/A output) ..............................................................................9-2
9-1-1 D/A output specifications ...........................................................................................................9-2
9-1-2 Setting the output data...............................................................................................................9-2
9-1-3 Setting the output magnification ................................................................................................9-3
9-1-4 Current feedback analog output function...................................................................................9-3
9-2 Gain adjustment.......................................................................................................................................9-4
9-2-1 Current loop gain .......................................................................................................................9-4
9-2-2 Speed loop gain.........................................................................................................................9-4
9-2-3 Position loop gain.......................................................................................................................9-6
9-3 Characteristics improvement...................................................................................................................9-9
9-3-1 Optimal adjustment of cycle time...............................................................................................9-9
9-3-2 Vibration suppression measures .............................................................................................9-11
9-3-3 Improving the cutting surface precision...................................................................................9-15
9-3-4 Improvement of protrusion at quadrant changeover................................................................9-18
9-3-5 Improvement of overshooting..................................................................................................9-23
9-3-6 Improvement of characteristics during acceleration/deceleration ...........................................9-25
9-4 Settings for emergency stop..................................................................................................................9-28
9-4-1 Deceleration control.................................................................................................................9-28
9-4-2 Vertical axis drop prevention control........................................................................................9-30
9-4-3 Vertical axis pull up control......................................................................................................9-32
10. Troubleshooting
10-1 Points of caution and confirmation......................................................................................................10-2
10-2 Troubleshooting at start up..................................................................................................................10-3
10-3 List of unit protection functions............................................................................................................10-4
10-3-1 List of alarms..........................................................................................................................10-4
10-3-2 List of warnings......................................................................................................................10-6
10-4 Troubleshooting according to alarm and warning number.................................................................10-7
10-4-1 Alarms....................................................................................................................................10-7
10-4-2 Warning................................................................................................................................10-18
10-4-3 Parameter No. during initial parameter error.......................................................................10-20
11. Characteristics
11-1 Inspections...........................................................................................................................................11-2
11-2 Service parts........................................................................................................................................11-2
Appendix 1. Cable and Connector Specifications
Appendix 1-1 Selection of cable................................................................................................................. A1-2
Appendix 1-1-1 Cable wire and assembly.........................................................................................A1-2
Appendix 1-2 Cable connection diagram (SVJ2-6-4-5, 6-22P)................................................................. A1-4
Appendix 1-3 Connector outline dimension drawings ............................................................................... A1-8
Appendix 1-4 Cable and connector assembly ......................................................................................... A1-13
Appendix 1-4-1 CM10-SP**S plug connector .................................................................................A1-13
Appendix 1-4-2 CM10-AP**S Angle Plug Connector......................................................................A1-20
Appendix 2. Selection
Appendix 2-1 Selection of servomotor capacity......................................................................................... A2-2
Appendix 2-1-1 Load inertia ratio......................................................................................................A2-2
Appendix 2-1-2 Short time characteristics ........................................................................................A2-2
Appendix 2-1-3 Continuous characteristics.......................................................................................A2-3
Appendix 2-2 Selecting the regenerative resistor...................................................................................... A2-5
Appendix 2-2-1 Calculating the regenerative energy........................................................................A2-5
Appendix 2-2-2 Calculating the positioning frequency......................................................................A2-7
Appendix 2-3 Example of servo selection.................................................................................................. A2-8
Appendix 2-3-1 Motor selection calculation ......................................................................................A2-8
Appendix 2-3-2 Regenerative resistor selection calculation...........................................................A2-11
Appendix 2-3-3 Servo selection results...........................................................................................A2-13
Appendix 2-4 Motor shaft conversion load torque................................................................................... A2-14
Appendix 2-5 Expressions for load inertia calculation............................................................................. A2-15

Appendix 3. Compliance with European EC Directives
Appendix 3-1 Compliance to EC Directives............................................................................................... A3-2
Appendix 3-1-1 European EC Directives ..........................................................................................A3-2
Appendix 3-1-2 Cautions for EC Directive compliance.....................................................................A3-2
Appendix 4. EMC Installation Guidelines
Appendix 4-1 Introduction........................................................................................................................... A4-2
Appendix 4-2 EMC instructions.................................................................................................................. A4-2
Appendix 4-3 EMC measures..................................................................................................................... A4-3
Appendix 4-4 Measures for panel structure............................................................................................... A4-3
Appendix 4-4-1 Measures for control panel unit...............................................................................A4-3
Appendix 4-4-2 Measures for door....................................................................................................A4-4
Appendix 4-4-3 Measures for operation board panel........................................................................A4-4
Appendix 4-4-4 Shielding of the power supply input section ............................................................A4-4
Appendix 4-5 Measures for various cables................................................................................................ A4-5
Appendix 4-5-1 Measures for wiring in panel....................................................................................A4-5
Appendix 4-5-2 Measures for shield treatment.................................................................................A4-5
Appendix 4-5-3 Servo/spindle motor power cable ............................................................................A4-6
Appendix 4-5-4 Servo/spindle motor feedback cable .......................................................................A4-7
Appendix 4-6 EMC countermeasure parts................................................................................................. A4-8
Appendix 4-6-1 Shield clamp fitting...................................................................................................A4-8
Appendix 4-6-2 Ferrite core...............................................................................................................A4-9
Appendix 4-6-3 Power line filter ......................................................................................................A4-10
Appendix 4-6-4 Surge protector......................................................................................................A4-15
Appendix 5. Instruction Manual for Compliance with UL/c-UL Standard
Appendix 5-1 Operation surrounding air ambient temperature................................................................. A5-2
Appendix 5-2 Notes for AC servo system.................................................................................................. A5-2
Appendix 5-2-1 General Precaution..................................................................................................A5-2
Appendix 5-2-2 Installation................................................................................................................A5-2
Appendix 5-2-3 Short-circuit ratings..................................................................................................A5-2
Appendix 5-2-4 Peripheral devices...................................................................................................A5-2
Appendix 5-2-5 Field Wiring Reference Table for Input and Output.................................................A5-2
Appendix 5-2-6 Motor Over Load Protection.....................................................................................A5-2
Appendix 5-2-7 Flange of servo motor..............................................................................................A5-2
Appendix5-3 AC Servo/Spindle System Connection................................................................................. A5-3
Appendix 6. Transportation Restrictions for Lithium Batteries
Appendix 6-1 Restriction for packing.......................................................................................................... A6-2
Appendix 6-1-1 Target products........................................................................................................A6-2
Appendix 6-1-2 Handling by user......................................................................................................A6-3
Appendix 6-1-3 Reference ................................................................................................................A6-4
Appendix 6-2 Issuing domestic law of the United State for primary lithium battery transportation.......... A6-5
Appendix 6-2-1 Outline of regulation.................................................................................................A6-5
Appendix 6-2-2 Target products........................................................................................................A6-5
Appendix 6-2-3 Handling by user......................................................................................................A6-5
Appendix 6-2-4 Reference ................................................................................................................A6-5
Appendix 6-3 Example of hazardous goods declaration list ..................................................................... A6-6
Appendix 7. Compliance with China Compulsory Product Certification (CCC Certification) System
Appendix 7-1 Outline of China Compulsory Product Certification System............................................... A7-2
Appendix 7-2 First Catalogue of Products subject to Compulsory Product Certification ......................... A7-2
Appendix 7-3 Precautions for Shipping Products...................................................................................... A7-3
Appendix 7-4 Application for Exemption.................................................................................................... A7-4
Appendix 7-5 Mitsubishi NC Product Subject to/Not Subject to CCC Certification.................................. A7-5