Mitsubishi Electric MELSERVO-J5 User Manual
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Mitsubishi Electric MELSERVO-J5 User Manual

Ac servo system partner's encoder
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Mitsubishi Electric AC Servo System
MR-J5 Partner's Encoder
User's Manual
-MR-J5-_G_
-MR-J5W_-_G_
-MR-J5D_-_G_
-MR-J5-_G_-_N1
-MR-J5W_-_G-_N1
-MR-J5D_-_G_-_N1
-MR-J5-_B_
-MR-J5W_-_B_
-MR-J5-_A_

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Summary of Contents for Mitsubishi Electric MELSERVO-J5

  • Page 1 Mitsubishi Electric AC Servo System MR-J5 Partner's Encoder User's Manual -MR-J5-_G_ -MR-J5W_-_G_ -MR-J5D_-_G_ -MR-J5-_G_-_N1 -MR-J5W_-_G-_N1 -MR-J5D_-_G_-_N1 -MR-J5-_B_ -MR-J5W_-_B_ -MR-J5-_A_...

  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more (20 minutes or more for the converter unit and drive unit) before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ●...

  • Page 5: About The Manual

    ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •...

  • Page 6: Table Of Contents

    Mitsubishi Electric high-speed serial communication ........
  • Page 7 SR75/SR85/SL710 + PL101-RM/SL710 + PL101-RHM/SQ10 + PQ10 + MQ10 ..... . . 101 Linear encoder manufactured by Renishaw ..........102 Linear encoder manufactured by NIDEC SANKYO .

  • Page 8: Chapter 1 Linear Encoder

    LINEAR ENCODER Precautions • While the linear encoder and the linear servo motor should be oil and dust proofed, oil and dust proofing are especially important for the linear encoder. For details, contact the manufacturer of the linear encoder being used. •...

  • Page 9: Compatible Encoder List

    For information on suitable operating environments and linear encoder specifications such as temperature, vibration resistance, and IP ratings, contact the product manufacturer. Precautions For the encoders that can be used with your servo amplifier, contact your local sales office. Mitsubishi Electric high-speed serial communication Absolute position type Manufacturer Model...
  • Page 10 Incremental type Manufacturer Model Resolution Rated Effective Communication Ver. speed measurement method Motor Load length side side (maximum) Magnescale SR75 0.05 μm/0.01 μm 3.3 m/s 2040 mm Two-wire type SR85 3040 mm SL710 + PL101-RM/ 0.1 µm 10.0 m/s 100000 mm SQ10 + PQ10 + MQ10 0.1 μm/0.05 μm 10.0 m/s...

  • Page 11: A/B/Z-Phase Differential Output Type

    A/B/Z-phase differential output type Encoder type Manufacturer Resolution Rated Effective Communication Ver. Absolute speed measurement method position Motor Load length detection side side (maximum) system  Linear encoder Not specified 0.001 μm to 5 μm Depends on Depends on the A/B/Z-phase the encoder encoder...

  • Page 12: External Encoder Connector

    External encoder connector The following table shows the servo amplifier connectors used to connect the servo amplifier to an external encoder. For the MR-J5-_ and MR-J5W_-_ Operation External External connection connector mode encoder MR-J5-_A_ MR-J5-_A_- MR-J5-_G_ MR-J5-_G_- MR-J5W2-_G_ MR-J5W3-_G_ communication MR-J5-_B_ MR-J5W2-_B MR-J5W3-_B...

  • Page 13: Linear Encoder Manufactured By Mitutoyo (Absolute Position Type)

    Linear encoder manufactured by Mitutoyo (absolute position type) The absolute position battery is not required when constructing an absolute position detection system. AT343A Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor • Servo amplifier without CN2L or CN2AL Encoder cable 2 Linear servo motor thermistor 1-axis servo amplifier...
  • Page 14 • Servo amplifier with CN2L or CN2AL Encoder cable 2 Linear servo motor thermistor 1-axis servo amplifier Linear encoder AT343A Encoder cable 1 CN2L Branch cable SCALE Linear servo motor thermistor Conditions Branch cable Encoder cable Output cable When using an optional encoder (4) MR-J4THCBL03M (1) MR-EKCBL_M-H (3) Options manufactured by...
  • Page 15 ■For fully closed loop system and scale measurement function • Servo amplifier without CN2L or CN2AL 1-axis servo amplifier Linear encoder Encoder cable 1 AT343A 2-axis servo amplifier Branch cable SCALE CN2A CN2B Rotary servo motor encoder MOTOR Conditions Branch cable Encoder cable Output cable When using an optional encoder...
  • Page 16 Fabricating the encoder cable Fabricate the encoder cable using the MR-ECNM connector set as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 Receptacle: 36210-0100PL Servo amplifier side Linear encoder side Housing: 1-172161-9 Shell kit: 36310-3200-008 Connector pin: 170359-1 (3M) (TE Connectivity or equivalent)
  • Page 17 ■Encoder cable 2 Receptacle: 36210-0100PL Servo amplifier side Linear encoder side Housing: 1-172161-9 Shell kit: 36310-3200-008 Connector pin: 170359-1 Plate (3M) (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial) THM2 THM1 View from the wiring side. THM1 THM2 Connector set: 54599-1019 (Molex) Linear servo motor...

  • Page 18: At543A-Sc/At545A-Sc

    AT543A-SC/AT545A-SC Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor • Servo amplifier without CN2L or CN2AL Encoder cable 2 Linear servo motor thermistor Linear encoder 1-axis servo amplifier Encoder cable 1 AT543A-SC/AT545A-SC Output cable Head cable Multi-axis servo amplifier...
  • Page 19 • Servo amplifier with CN2L or CN2AL Encoder cable 2 Linear servo motor thermistor Linear encoder 1-axis servo amplifier Encoder cable 1 AT543A-SC/AT545A-SC CN2L Output cable Head cable Branch cable SCALE Linear servo motor thermistor Conditions Branch cable Encoder cable Output cable Head cable When using an optional...
  • Page 20 ■For fully closed loop system and scale measurement function • Servo amplifier without CN2L or CN2AL Linear encoder Encoder cable 1 1-axis servo amplifier AT543A-SC/AT545A-SC Output cable Head cable 2-axis servo amplifier Branch cable SCALE CN2A CN2B Rotary servo motor encoder MOTOR Conditions Branch cable...
  • Page 21 Fabricating the encoder cable Fabricate the encoder cable using the MR-ECNM connector set as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 Receptacle: 36210-0100PL Servo amplifier side Linear encoder side Housing: 1-172161-9 Shell kit: 36310-3200-008 Connector pin: 170359-1 (3M) (TE Connectivity or equivalent)
  • Page 22 ■Encoder cable 2 Receptacle: 36210-0100PL Servo amplifier side Linear encoder side Housing: 1-172161-9 Shell kit: 36310-3200-008 Connector pin: 170359-1 Plate (3M) (TE Connectivity or equivalent) Cable clamp: MTI-0002 P5 (+5 V) (Toa Electric Industrial) LG (0 V) THM2 THM1 View from the wiring side. THM1 THM2 (+5 V)

  • Page 23: St743A/St744A/St748A

    ST743A/ST744A/ST748A Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor • Servo amplifier without CN2L or CN2AL Encoder cable 2 Linear servo motor thermistor 1-axis servo amplifier Linear encoder Encoder cable 1 ST743A/ST744A/ST748A Head cable Multi-axis servo amplifier Branch cable...
  • Page 24 • Servo amplifier with CN2L or CN2AL Encoder cable 2 Linear servo motor thermistor 1-axis servo amplifier Linear encoder Encoder cable 1 ST743A/ST744A/ST748A CN2L Head cable Branch cable SCALE Linear servo motor thermistor Equipment required to adjust and check signals Personal Software for computer...
  • Page 25 ■For fully closed loop system and scale measurement function • Servo amplifier without CN2L or CN2AL 1-axis servo amplifier Encoder cable 1 Linear encoder ST743A/ST744A/ST748A Head cable 2-axis servo amplifier Branch cable SCALE CN2A CN2B Rotary servo motor encoder MOTOR Equipment required to adjust and check signals Signal Personal...
  • Page 26 • Servo amplifier with CN2L or CN2AL 1-axis servo amplifier Rotary servo motor encoder CN2L Encoder cable 1 Linear encoder ST743A/ST744A/ST748A Head cable Equipment required to adjust and check signals Signal Personal adjustment computer Converter unit software Conditions Encoder cable Head cable When using an optional encoder (1) Options manufactured by Mitutoyo...
  • Page 27 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 Connector set (optional) Servo amplifier side Linear encoder side Shell: HDAB-15S MR-J3CN2 Shield cover: HDA-CTH...
  • Page 28 ■Encoder cable 2 Connector set (optional) Servo amplifier side Linear encoder side Shell: HDAB-15S MR-J3CN2 Shield cover: HDA-CTH Plate Receptacle: 36210-0100PL (Hirose Electric or equivalent) Shell kit: 36310-3200-008 (3M) THM2 THM1 THM1 THM2 View from the wiring side. View from the wiring side. Linear servo motor thermistor Connector set: 54599-1019 (Molex)

  • Page 29: St1341A/St1342A

    ST1341A/ST1342A Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor • Servo amplifier without CN2L or CN2AL Encoder cable 2 Thermistor of linear servo motor 1-axis servo amplifier Linear encoder Encoder cable 1 ST1341A/ST1342A Head cable Multi-axis servo amplifier...
  • Page 30 • Servo amplifier with CN2L or CN2AL Encoder cable 2 Thermistor of linear servo motor 1-axis servo amplifier Linear encoder Encoder cable 1 ST1341A/ST1342A CN2L Head cable Branch cable SCALE Thermistor of linear servo motor Conditions Branch cable Encoder cable Head cable When using an optional (4) MR-J4THCBL03M...
  • Page 31 ■For fully closed loop system and scale measurement function • Servo amplifier without CN2L or CN2AL 1-axis servo amplifier Linear encoder Encoder cable 1 ST1341A/ST1342A Head cable 2-axis servo amplifier Branch cable SCALE CN2A CN2B Rotary servo motor encoder MOTOR Conditions Branch cable Encoder cable...
  • Page 32 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 Connector set (optional) Servo amplifier side Linear encoder side Shell: HDAB-15S MR-J3CN2 Shield cover: HDA-CTH...
  • Page 33 ■Encoder cable 2 Connector set (optional) Servo amplifier side Linear encoder side Shell: HDAB-15S MR-J3CN2 Shield cover: HDA-CTH Plate Receptacle: 36210-0100PL (Hirose Electric or equivalent) Shell kit: 36310-3200-008 (3M) THM2 THM1 THM1 THM2 View from the wiring side. View from the wiring side. Thermistor of linear servo motor Connector set: 54599-1019 (Molex)

  • Page 34: Linear Encoder Manufactured By Heidenhain

    Linear encoder manufactured by Heidenhain • The absolute position battery is not required when constructing an absolute position detection system. LC 495M/LC 195M (absolute position type) • This linear encoder is a four-wire type. To use this linear encoder, change the servo parameter to select the four-wire type.
  • Page 35 • Servo amplifier with CN2L or CN2AL Encoder cable 2 Linear servo motor thermistor 1-axis servo amplifier Linear encoder LC 495M/LC 195M Encoder cable 1 CN2L (4) Output cable Branch cable SCALE Linear servo motor thermistor Conditions Branch cable Encoder cable Output cable LC 495M/LC 195M When using an optional...
  • Page 36 ■For fully closed loop system and scale measurement function • Servo amplifier with CN2L or CN2AL Rotary servo motor encoder 1-axis servo amplifier Linear encoder Encoder cable 1 LC 495M/LC 195M CN2L (4) Output cable Conditions Encoder cable Output cable LC 495M/LC 195M When using an optional encoder (1) Options manufactured by Heidenhain...
  • Page 37 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
  • Page 38 ■Encoder cable 2 Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Plate Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) THM2 5 V/sensor THM1 0 V/sensor View from the wiring side. Connector set: 54599-1019 THM1 Connector: 17-pin coupling (Molex) 291697-26 (female) THM2 (Heidenhain) THM2...

  • Page 39: Lic 4193M/Lic 4195M/Lic 4197M/Lic 4199M/Lic 2197M/Lic 2199M (Absolute Position Type)

    LIC 4193M/LIC 4195M/LIC 4197M/LIC 4199M/LIC 2197M/LIC 2199M (absolute position type) • These linear encoders are two-wire type or four-wire type. When using a four-wire type linear encoder, change the servo parameter to select the four-wire type. Refer to the following. MR-J5-G/MR-J5W-G User's Manual (Parameters) MR-J5-B/MR-J5W-B User's Manual (Parameters) MR-J5-A User's Manual (Parameters)
  • Page 40 • Servo amplifier with CN2L or CN2AL Encoder cable 3, 4 Linear servo motor thermistor Linear encoder LIC 4193M/LIC 4195M/LIC 4197M/ Encoder cable 1, 2 LIC 4199M/LIC 2197M/LIC 2199M 1-axis servo amplifier Branch cable SCALE Head cable CN2L Linear servo motor thermistor Equipment required to adjust and check signals Personal Software for...
  • Page 41 ■For fully closed loop system and scale measurement function • Servo amplifier without CN2L or CN2AL (only two-wire type) 1-axis servo amplifier Linear encoder LIC 4193M/LIC 4195M/LIC 4197M/ Encoder cables 1 LIC 4199M/LIC 2197M/LIC 2199M 2-axis servo amplifier Branch cable SCALE Head cable CN2A...
  • Page 42 • Servo amplifier with CN2L or CN2AL Rotary servo motor encoder 1-axis servo amplifier Encoder cables 1, 2 Linear encoder LIC 4193M/LIC 4195M/LIC 4197M/ LIC 4199M/LIC 2197M/LIC 2199M CN2L Head cable Equipment required to adjust and check signals Signal Personal adjustment computer Measuring device...
  • Page 43 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 (two-wire type) Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Receptacle: 36210-0100PL...
  • Page 44 ■Encoder cable 2 (four-wire type) Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) 5 V/sensor 0 V/sensor View from the wiring side. Connector set: 54599-1019 Plate (Molex) Connector: 15-pin D-SUB (female) View from the wiring side. *1 Encoder cables that meet the following specifications are recommended.
  • Page 45 ■Encoder cable 3 (two-wire type) Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Plate Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) THM2 5 V/sensor THM1 0 V/sensor RQ, SD /RQ, /SD View from the wiring side. THM1 Connector: 15-pin D-SUB (female) Connector set: 54599-1019 THM2 (Molex)
  • Page 46 ■Encoder cable 4 (four-wire type) Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Plate Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) THM2 5 V/sensor THM1 0 V/sensor View from the wiring side. Connector set: 54599-1019 THM1 Connector: 15-pin D-SUB (female) (Molex) THM2 THM2...

  • Page 47: Lida 483/Lida 485/Lida 487/Lida 489/Lida 287/Lida 289/Lif 481/Lip 6081 (Incremental Type)

    LIDA 483/LIDA 485/LIDA 487/LIDA 489/LIDA 287/LIDA 289/LIF 481/ LIP 6081 (incremental type) • This linear encoder is a four-wire type. To use this linear encoder, change the servo parameter to select the four-wire type. Refer to the following. MR-J5-G/MR-J5W-G User's Manual (Parameters) MR-J5-B/MR-J5W-B User's Manual (Parameters) MR-J5-A User's Manual (Parameters) •...
  • Page 48 Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor • Servo amplifier without CN2L or CN2AL Encoder cable 2 Linear servo motor thermistor Linear encoder LIDA 483/LIDA 485/LIDA 487/ Serial interface LIDA 489/LIDA 287/LIDA 289/ conversion unit LIF 481/LIP 6081 Encoder cable 1...
  • Page 49 • Servo amplifier with CN2L or CN2AL Encoder cable 2 Linear servo motor thermistor Linear encoder LIDA 483/LIDA 485/LIDA 487/ Serial interface LIDA 489/LIDA 287/LIDA 289/ conversion unit LIF 481/LIP 6081 Encoder cable 1 1-axis servo amplifier Head cable CN2L Branch cable SCALE Linear servo motor thermistor...
  • Page 50 ■For fully closed loop system and scale measurement function • Servo amplifier with CN2L or CN2AL Rotary servo motor encoder Linear encoder LIDA 483/LIDA 485/LIDA 487/ Serial interface conversion unit 1-axis servo amplifier LIDA 489/LIDA 287/LIDA 289/ Encoder cable 1 LIF 481/LIP 581 CN2L Head cable...
  • Page 51 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
  • Page 52 ■Encoder cable 2 Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Plate Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) THM2 5 V/sensor THM1 0 V/sensor View from the wiring side. Connector set: 54599-1019 THM1 Connector: 15-pin D-SUB (female) (Molex) THM2 THM2 Linear servo motor thermistor...

  • Page 53: Linear Encoder Manufactured By Magnescale

    Linear encoder manufactured by Magnescale • SR27A, SR67A, SR77, and SR87 are absolute position type encoders. SR75 and SR85 are incremental type encoders. • The absolute position battery is not required when constructing an absolute position detection system. SR77/SR87/SR75/SR85 Cable structure Prepare cables based on the following configuration diagram.
  • Page 54 ■For fully closed loop system and scale measurement function • Servo amplifier without CN2L or CN2AL 1-axis servo amplifier Branch cable Linear encoder 2-axis servo amplifier MR-J4FCCBL03M SR77/SR87/SR75/SR85 SCALE Encoder cable (model: CH33-_) CN2A CN2B Rotary servo motor encoder MOTOR *1 This optional cable is manufactured by Magnescale and should be prepared by the customer.

  • Page 55: Sl710 + Pl101-Rm/Rhm (Incremental Type)

    SL710 + PL101-RM/RHM (incremental type) Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor • Servo amplifier without CN2L or CN2AL Encoder cable 2 Linear servo motor thermistor Interpolator Linear encoder Encoder cable 1 1-axis servo amplifier MJ832 SL710...
  • Page 56 • Servo amplifier with CN2L or CN2AL Encoder cable 2 Linear servo motor thermistor Interpolator Linear encoder Encoder cable 1 1-axis servo amplifier MJ832 SL710 PL101-RM/RHM CN2L Branch cable SCALE Linear servo motor thermistor Conditions Branch cable Encoder cable Interpolator When using an optional (4) MR-J4THCBL03M (1) Options manufactured by Magnescale...
  • Page 57 ■For fully closed loop system and scale measurement function • Servo amplifier without CN2L or CN2AL Encoder cable 1 1-axis servo amplifier Interpolator Linear encoder MJ832 SL710 PL101-RM/RHM 2-axis servo amplifier Branch cable SCALE CN2A CN2B Rotary servo motor encoder MOTOR Conditions Branch cable...
  • Page 58 Fabricating the encoder cable used to connect the servo amplifier and interpolator Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 Connector set (optional) Servo amplifier side Interpolator-side...
  • Page 59 ■Encoder cable 2 Connector set (optional) Servo amplifier side Interpolator-side Plug: 36110-3000FD MR-J3CN2 Shell kit: 36310-F200-008 Plate Plate Receptacle: 36210-0100PL (3M or equivalent) Shell kit: 36310-3200-008 (3M) -SD/ THM2 SD/RQ SD/RQ THM1 -SD/-RQ View from the wiring side. THM1 THM2 View from the wiring side.

  • Page 60: Sr27A/Sr67A

    SR27A/SR67A • These linear encoders are two-wire type or four-wire type. When using a four-wire type linear encoder, change the servo parameter to select the four-wire type. Refer to the following. MR-J5-G/MR-J5W-G User's Manual (Parameters) MR-J5-B/MR-J5W-B User's Manual (Parameters) MR-J5-A User's Manual (Parameters) •...
  • Page 61 ■For fully closed loop system and scale measurement function • Servo amplifier without CN2L and CN2AL 1-axis servo amplifier Branch cable Linear encoder 2-axis servo amplifier MR-J4FCCBL03M SR27A/SR67A SCALE Encoder cable (model: CH23-_) CN2A CN2B Rotary servo motor encoder MOTOR *1 This optional cable is manufactured by Magnescale and should be prepared by the customer.

  • Page 62: Sq10 + Pq10 + Mq10 (Incremental Type)

    SQ10 + PQ10 + MQ10 (incremental type) • These linear encoders are two-wire type or four-wire type. When using a four-wire type linear encoder, change the servo parameter to select the four-wire type. Refer to the following. MR-J5-G/MR-J5W-G User's Manual (Parameters) MR-J5-B/MR-J5W-B User's Manual (Parameters) MR-J5-A User's Manual (Parameters) •...
  • Page 63 • Servo amplifier with CN2L or CN2AL Encoder cable 3, 4 1-axis servo amplifier Linear servo motor thermistor Linear encoder Encoder cable 1, 2 SQ10 MQ10 CN2L PQ10 Branch cable SCALE Linear servo motor thermistor Conditions Branch cable Encoder cable When using a branch cable (3) MR-J4THCBL03M (1) MR-J3CN2 connector set...
  • Page 64 ■For fully closed loop system and scale measurement function • Servo amplifier without CN2L or CN2AL (only two-wire type) 1-axis servo amplifier Encoder cable 1 Linear encoder MQ10 SQ10 PQ10 2-axis servo amplifier Branch cable SCALE CN2A CN2B Rotary servo motor encoder MOTOR Conditions Branch cable...
  • Page 65 Fabricating the encoder cable used to connect the servo amplifier and interpolator Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 (two-wire type) Connector set (optional) Servo amplifier side MQ10 side...
  • Page 66 ■Encoder cable 2 (four-wire type) Connector set (option) Servo amplifier side MQ10 side Plug: 10114-3000PE (3M) MR-J3CN2 Shell kit: 10314-52F0-008 (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) SQ_X View from the wiring side. SD_X Connector set: 54599-1019 Plate Plate (Molex) View from the wiring side.
  • Page 67 ■Encoder cable 3 (two-wire type) Connector set (optional) Servo amplifier side MQ10 side Plug: 10114-3000PE (3M) MR-J3CN2 Shell kit: 10314-52F0-008 (3M) Plate Plate Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) THM2 THM1 SQ_X THM1 THM2 View from the wiring side. Linear servo motor thermistor Connector set: 54599-1019 (Molex) AWG 24 to 20...
  • Page 68 ■Encoder cable 4 (four-wire type) Connector set (option) Servo amplifier side MQ10 side Plug: 10114-3000PE (3M) MR-J3CN2 Shell kit: 10314-52F0-008 (3M) Plate Plate Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) THM2 THM1 SQ_X SD_X View from the wiring side. THM1 THM2 Connector set: 54599-1019 (Molex) Thermistor of linear servo motor...

  • Page 69: Linear Encoder Manufactured By Renishaw

    Linear encoder manufactured by Renishaw • The absolute position battery is not required when constructing an absolute position detection system. RESOLUTE RL40M (absolute position type) Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor •...
  • Page 70 • Servo amplifier with CN2L or CN2AL Encoder cable 2 1-axis servo amplifier Linear servo motor thermistor Linear encoder RESOLUTE RL40M Encoder cable 1 CN2L Output cable Branch cable SCALE Linear servo motor thermistor Conditions Branch cable Encoder cable Output cable When using a branch cable (3) MR-J4THCBL03M (1) MR-J3CN2 connector set...
  • Page 71 ■For fully closed loop system and scale measurement function • Servo amplifier without CN2L or CN2AL 1-axis servo amplifier Linear encoder Encoder cable 1 RESOLUTE RL40M Output cable 2-axis servo amplifier Branch cable SCALE CN2A CN2B Rotary servo motor encoder MOTOR Branch cable Encoder cable...
  • Page 72 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
  • Page 73 ■Encoder cable 2 Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Plate Case Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) THM2 THM1 THM1 Connector: 15-pin D-SUB (female) THM2 View from the wiring side. Linear servo motor thermistor Connector set: 54599-1019 (Molex) AWG 24 to 20 THM2...

  • Page 74: Evolute El40M (Absolute Position Type)

    EVOLUTE EL40M (absolute position type) Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor • Servo amplifier without CN2L or CN2AL Encoder cable 2 1-axis servo amplifier Linear servo motor thermistor Linear encoder EVOLUTE EL40M Encoder cable 1 Output cable Multi-axis...
  • Page 75 • Servo amplifier with CN2L or CN2AL Encoder cable 2 1-axis servo amplifier Linear servo motor thermistor Linear encoder EVOLUTE EL40M Encoder cable 1 CN2L Output cable Branch cable SCALE Linear servo motor thermistor Conditions Branch cable Encoder cable Output cable When using a branch cable (3) MR-J4THCBL03M (1) MR-J3CN2 connector set...
  • Page 76 ■For fully closed loop system and scale measurement function • Servo amplifier without CN2L or CN2AL 1-axis servo amplifier Linear encoder Encoder cable 1 EVOLUTE EL40M Output cable 2-axis servo amplifier Branch cable SCALE CN2A CN2B Rotary servo motor encoder MOTOR Branch cable Encoder cable...
  • Page 77 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
  • Page 78 ■Encoder cable 2 Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Plate Case Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) THM2 THM1 THM1 Connector: 9-pin D-SUB (female) THM2 View from the wiring side. Linear servo motor thermistor Connector set: 54599-1019 (Molex) AWG 24 to 20 THM2...

  • Page 79: Linear Encoder Pslh041 Manufactured By Nidec Sankyo (Incremental Type)

    Linear encoder PSLH041 manufactured by NIDEC SANKYO (Incremental type) Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor • Servo amplifier without CN2L or CN2AL Encoder cable 2 1-axis servo amplifier Linear servo motor thermistor Linear encoder PSLH041 Encoder cable 1...
  • Page 80 • Servo amplifier with CN2L or CN2AL Encoder cable 2 1-axis servo amplifier Linear servo motor thermistor Linear encoder PSLH041 Encoder cable 1 CN2L Output cable Branch cable SCALE Linear servo motor thermistor Conditions Branch cable Encoder cable Output cable When using a branch cable (3) MR-J4THCBL03M (1) MR-J3CN2 connector set...
  • Page 81 ■For fully closed loop system and scale measurement function • Servo amplifier without CN2L or CN2AL 1-axis servo amplifier Linear encoder Encoder cable 1 PSLH041 Output cable 2-axis servo amplifier Branch cable SCALE CN2A CN2B Rotary servo motor encoder MOTOR Branch cable Encoder cable Output cable...
  • Page 82 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
  • Page 83 ■Encoder cable 2 Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Plate Plate Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) THM2 RQ|DT THM1 /RQ|/DT THM1 THM2 View from the wiring side. Connector: 15-pin D-SUB (female) Connector set: 54599-1019 Linear servo motor thermistor (Molex) AWG 24 to 20 THM2...

  • Page 84: Linear Encoder Manufactured By Nidec Machine Tool Corporation

    Linear encoder manufactured by NIDEC MACHINE TOOL CORPORATION MPFA-HZ-M01 (absolute position type) The absolute position battery is not required when constructing an absolute position detection system. Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor •...
  • Page 85 • Servo amplifier with CN2L or CN2AL Encoder cable 2 1-axis servo amplifier Thermistor of linear servo motor Linear encoder MPFA-HZ-M01 Encoder cable 1 CN2L Output cable Branch cable SCALE Thermistor of linear servo motor Conditions Branch cable Encoder cable Output cable When using a branch cable (3) MR-J4THCBL03M...
  • Page 86 ■For fully closed loop system and scale measurement function • Servo amplifier without CN2L or CN2AL 1-axis servo amplifier Linear encoder Encoder cable 1 MPFA-HZ-M01 Output cable 2-axis servo amplifier Branch cable SCALE CN2A CN2B Encoder of rotary servo motor MOTOR Branch cable Encoder cable...
  • Page 87 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 20 m. ■Encoder cable 1 Connector set (option) Servo amplifier side Linear encoder side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
  • Page 88 ■Encoder cable 2 Connector set (option) Servo amplifier side Linear encoder side MR-J3CN2 Plate Case Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) THM2 THM1 THM1 THM2 View from the wiring side. Connector: 9-pin D-SUB (female) Connector set: 54599-1019 Thermistor of linear servo motor (Molex) AWG 24 to 20 THM2...

  • Page 89: A/B/Z-Phase Differential Output Type Encoder

    A/B/Z-phase differential output type encoder Rotary encoders can be used with servo amplifiers with firmware version B2 or later. This section explains how to connect an A/B/Z-phase differential output type encoder to a servo amplifier. Fabricate the encoder cable using an MR-J3CN2 connector set as shown in the following wiring diagram. Page 89 Internal wiring diagram •...
  • Page 90 Upper speed limit The upper speed limit depends on the phase difference and the encoder resolution. The following tables show examples of the relation between the encoder resolution and the upper speed limit when the phase difference is 200 ns. Item Linear encoder resolution [µm] 0.001...
  • Page 91 Internal wiring diagram Fabricate cables using wire that can withstand repetitive bending. The maximum cable length is 30 m for RS-422 communication. However, the cable length may need to be shorter due to the power supply voltage drop or the specifications of the encoder being used.
  • Page 92 ■For encoders with a current consumption of more than 350 mA Precautions • When turning on the power, turn on the encoder, then turn on the servo amplifier. When turning off the power, turn off the servo amplifier, then turn off the linear encoder. External 5 V DC power supply Servo amplifier side A/B/Z-phase differential...

  • Page 93: Chapter 2 Option Cables/Connector Sets

    OPTION CABLES/CONNECTOR SETS MR-EKCBL_M-H encoder cable Model explanations Model: Long bending life Long bending life Symbol Cable length [m] Cable structure The table below shows the structure of this option cable. IP rating Flex life Length Core size Number of Characteristics of one core Cable OD Recommended...
  • Page 94 Internal wiring diagram Servo amplifier side Linear encoder side Plate 2 OPTION CABLES/CONNECTOR SETS 2.1 MR-EKCBL_M-H encoder cable...

  • Page 95: Mr-Ecnm Connector Set

    MR-ECNM connector set The following shows the connector combination for this connector set. IP rating Parts Description IP20 Connector set MR-ECNM SCALE-side connector on the branch cable Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) Connector set: 54599-1019 (Molex) Junction connector Housing: 1-172161-9 Connector pin: 170359-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial)

  • Page 96: Mr-J4Thcbl03M Branch Cable

    MR-J4THCBL03M branch cable This branch cable is for connecting the linear encoder and the thermistor of the linear servo motor to the CN2 connector. Refer to the following when fabricating the branch cable using the MR-J3THMCN2 connector set. Page 106 Fabricating a branch cable for linear servo motors 0.3 m SCALE Plate...

  • Page 97: Mr-J4Fccbl03M Branch Cable

    MR-J4FCCBL03M branch cable This branch cable is used to connect an encoder of the rotary servo motor/direct drive motor and load-side linear encoder to the CN2 connector. Refer to the following when fabricating the branch cable using the MR-J3THMCN2 connector set. Page 106 Fabricating a branch cable for a fully closed loop system 0.3 m MOTOR...

  • Page 98: Chapter 3 Detailed Explanation Of

    DETAILED EXPLANATION OF [AL. 02A LINEAR ENCODER ERROR 1] If the actions described in this chapter do not solve the alarm, contact the manufacturer of the product being used. Linear encoder manufactured by Mitutoyo AT343A/AT54_A Detail No. Details Cause Check/action method 02A.1 Initialization error The alarm occurs when the initialization process of...
  • Page 99 Detail No. Details Cause Check/action method 02A.6 EEP-ROM error The alarm occurs when a data error or Check if the power supply voltage to the linear encoder satisfies communication error in the internal memory of the the specifications. linear encoder is detected. Check if the cable from the servo amplifier to the detection head •...

  • Page 100: St74_A

    ST74_A Detail No. Details Cause Check/action method 02A.1 Overspeed error The alarm occurs when the detection head detects If the detection head speed exceeds 5 m/s, review the operation that the maximum feed speed (5 m/s) is exceeded. conditions. • Overspeed of the detection head Check for flaws on the scale and disconnection in the coil •...

  • Page 101: St134_A

    ST134_A Detail No. Details Cause Check/action method 02A.1 Overspeed The alarm occurs when the detection head detects If the detection head speed exceeds 8 m/s, review the operation that the maximum feed speed (8 m/s) is exceeded. conditions. • Overspeed of the detection head If the alarm occurs at a specific position in the scale, check for •...

  • Page 102: Linear Encoder Manufactured By Heidenhain

    Linear encoder manufactured by Heidenhain Detail No. Details Cause Check/action method 02A.1 Initialization error • Encoder cable disconnection and short-circuit If there is a problem with the encoder cable, replace or repair • Problems in the power supplied to the linear the cable.

  • Page 103: Linear Encoder Manufactured By Magnescale

    Linear encoder manufactured by Magnescale SR77/SR87/SR27A/SR67A Detail No. Details Cause Check/action method 02A.1 Initialization error There is a problem in the laser diode current. Contact Magnescale. 02A.2 Data mismatch There is a mismatch between the position data Check if the reading position relation between the scale and currently being output and the position data head such as the gap satisfy the specifications.

  • Page 104: Linear Encoder Manufactured By Renishaw

    Linear encoder manufactured by Renishaw Detail No. Details Cause Check/action method 02A.1 Initial An error occurred at startup. Cycle the power of the servo amplifier, then check the conditions of the readhead setup LED. If the above action does not solve the error, contact Renishaw. 02A.4 Absolute position The mounting conditions of the readhead and scale...

  • Page 105: Linear Encoder Manufactured By Nidec Sankyo

    Linear encoder manufactured by NIDEC SANKYO PSLH041 Detail No. Details Cause Check/action method 02A.1 EEP-ROM error The setting values of EEP-ROM were not properly If the error does not occur after cycling the power to the servo read immediately after the servo amplifier was amplifier, electrical noise may be the cause of the malfunction.

  • Page 106: Linear Encoder Manufactured By Nidec Machine Tool Corporation

    Linear encoder manufactured by NIDEC MACHINE TOOL CORPORATION MPFA-HZ-M01 Detail No. Details Cause Check/action method The alarm will not be cleared until the cause is removed and the 02A.1 Feedback error 1 A weak signal was detected during the continuous signal check.
  • Page 107 MEMO 3 DETAILED EXPLANATION OF [AL. 02A LINEAR ENCODER ERROR 1] 3.6 Linear encoder manufactured by NIDEC MACHINE TOOL CORPORATION...

  • Page 108: Chapter 4 Appendix

    APPENDIX Fabricating a branch cable for linear servo motors Fabricate the branch cable using the MR-J3THMCN2 connector set as shown in the connection diagram of the following section. Page 94 MR-J4THCBL03M branch cable The branch cable length should be 0.3 m or less. Parts Description MR-J3THMCN2 connector set...
  • Page 109 MEMO 4 APPENDIX 4.2 Fabricating a branch cable for a fully closed loop system...

  • Page 110: Revisions

    Chapter 1, Section 2.5, Chapter 3 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 111: Warranty

    We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation. (3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.

  • Page 112: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies.
  • Page 114 SH(NA)-030320ENG-G(2301)MEE MODEL: MODEL CODE: HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

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