Mitsubishi HA Series Servo Motors

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Overview

Servo motors made by Mitsubishi usually meant to be used with their MDS-A/B series servo drives. They typically have absolute position serial encoders, but they can also be fitted with other types.

Model Numbers

  • Page 123 (III-3 in the PDF) has the model number scheme
  • Page 131 (III-11 in the PDF) has the dimensions

Wiring Diagram

  • Page 150 (III-30 in the PDF) has the motor power connector pinouts
  • Page 161 (III-47 in the PDF) has serial encoder information
  • Page 170 (III-50 in the PDF) has the serial encoder cable pinout

Replacement Parts

8-pin Power Connector

The documentation refers to the motor side connector as a DDK CE05-2A22-23P, here is the datasheet:

http://www.ddknet.co.jp/English/products/circular/CE05/CE05-ENG.pdf

A possible compatible replacement:

ITT Cannon MS3102E22-23P

A mating connector can be made from these parts:

Amphenol MS3108B22-23S (obsolete, curved clamshell)
Amphenol MS3108A22-23S (obsolete, intermediate square flange)

DigiKey Part 97-3057-1012-1-ND.jpg Amphenol 97-3057-1012-1

Serial Encoder

Page 195 (III-58 in the PDF) lists the various types of serial encoders.

The serial encoders have absolute and and "incremental" editions, though incremental is a misnomer -- they are absolute within a single revolution, just not multi-turn.

The servo side military plug:

Amphenol MS3102A22-14S (obsolete)

TODO mating connector.

Coupling

  • Page 178 (III-58 in the PDF) shows direct coupling with a load
  • Page 180 (III-60 in the PDF) shows the tapered shaft end screw tightening torque (also shown on the dimensions page)

A special all-metal friction locknut is used to secure the coupling to the tapered shaft:

B70-0010 with TRUSCO U nut (stainless steel) M10X1.5 three
U Nut | Trusco Nakayama | MISUMI USA (these are 1.5mm pitch, we actually need 1.25mm pitch...)
M10x1.25 Hex Screw Nut Fuji Seimitsu [MonotaRO Singapore] 42100676
https://www.fun.co.jp/english/_BK_170908/products/unut01.html

Online Resources

Mitsubishi MDS-A/B Series AC Servo/Spindle Specifications Manual BNP-B3759B (ENG)

Mitsubishi MELDAS MDS-C1 Series AC Servo/Spindle Specifications Manual BNP-C3000C (ENG)

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