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SH (NA) 030111-F (1409) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo compatible HEAD.
A - 1 Safety Instructions Please read the instructions ca refully before using the equipment. Do not attempt to install, operate, maintain or inspect the equipment until you have read thro ugh this Instruction Manual and append ed documents careful ly and can use the equipment co rrectly.
A - 2 MEMO.
1 CONTENTS 1. LINEAR ENCODER 1- 1 to 1-58 1.1 Compatible li near encoder list ............................................................................................ ............... 1- 2 1.2 Linear encoder manufactured by Mitutoyo (absol ute type) .
2 MEMO.
1. LINEAR ENCODER 1 - 1 1. LINEAR ENCODER CAUTION More careful measures against oil and dust must be taken for the linear encoder than the linear servo motor. For details, contact each linear encoder manufacturer. POINT Always use the linear encoder cable introduced in this chapter.
1. LINEAR ENCODER 1 - 2 1.1 Compatible linear encoder list Linear encoder type Manufacturer Model Resolution Rated speed (Note 1) Effective measurement length (maximum) (Note 2) Commu- nication method Absolute position detection system Mitsubishi serial interface compatibility Absolute position type Magnescale SR77 0.
1. LINEAR ENCODER 1 - 3 The following table shows connectors of se rvo amplifiers to connect a linear encoder. (1) For an MR-J4-_A(1)(-RJ), MR-J4-_B(1)(-R J), and MR-J4W_-_B servo amplifiers Operation.
1. LINEAR ENCODER 1 - 4 (2) For an MR-J4-_A4(-RJ) and MR-J4-_B4(-RJ) servo amplifiers Operation mode External encoder communication method External connection connector MR-J4-_A4 MR-J4-_A4-RJ MR-J 4-_.
1. LINEAR ENCODER 1 - 5 1.2 Linear encoder manufactured by Mitutoyo (absolute type) POINT When the absolute position det ection system is configur ed, the absolute position battery is not required. 1.2.1 AT343A (1) Cable composition Prepare a cable based on the following configuration diagram.
1. LINEAR ENCODER 1 - 6 2) MR-J4-_A_-RJ or MR-J 4-_B_-RJ servo amplifier Thermistor of linear servo motor Branch cable CN2 CN2L MR-J4-_A_-RJ or MR-J4-_B_-RJ servo amplifier Linear encoder AT343A 2) 1).
1. LINEAR ENCODER 1 - 7 (b) For the fully closed loop syst em and scale measurement function 1) MR-J4-_A_/MR-J4-_B_/MR-J4W 2-_B servo amplifier or MR-J4-DU_A_/MR-J4-DU_B_ drive unit MR-J4-_A_/ MR-J4-_.
1. LINEAR ENCODER 1 - 8 (2) Production of encoder cable Produce the encoder cable using MR-ECNM as s hown below. The encoder cable can be produced as the length of maximum 30 m. (a) Encoder cable 1 View seen from wiring side. (Note 3) 1 P5 37 9 4 MRR 2 LG 8 61 0 5 or 4 MRR 2 LG 8 6 1 P5 5 10 37 9 View seen from wiring side.
1. LINEAR ENCODER 1 - 9 (b) Encoder cable 2 View seen from wiring side. (Note 3) or View seen from wiring side. (Note 3) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) Connector set: 54599-10.
1. LINEAR ENCODER 1 - 10 1.2.2 AT543A-SC/AT545A-SC (1) Cable composition Prepare a cable based on the following configuration diagram. (a) For the linear servo motor 1) MR-J4-_A_, MR-J4-_B_, or MR-J4W.
1. LINEAR ENCODER 1 - 11 2) MR-J4-_A_-RJ or MR-J 4-_B_-RJ servo amplifier MR-J4-_A_-RJ or MR-J4-_B_-RJ servo amplifier Linear encoder AT543A-SC or AT545A-SC 2) Output cable Head cable 1) Encoder cable.
1. LINEAR ENCODER 1 - 12 (b) For the fully closed loop syst em and scale measurement function 1) MR-J4-_A_/MR-J4-_B_/MR-J4W 2-_B servo amplifier or MR-J4-DU_A_/MR-J4-DU_B_ drive unit MR-J4-_A_/ MR-J4-.
1. LINEAR ENCODER 1 - 13 (2) Production of encoder cable Produce the encoder cable using MR-ECNM as s hown below. The encoder cable can be produced as the length of maximum 30 m. (a) Encoder cable 1 View seen from wiring side. (Note 3) 1 P5 37 9 4 MRR 2 LG 8 61 0 5 or 4 MRR 2 LG 8 6 1 P5 5 10 37 9 View seen from wiring side.
1. LINEAR ENCODER 1 - 14 (b) Encoder cable 2 View seen from wiring side. (Note 3) or View seen from wiring side. (Note 3) Connector set: 54599-1019 (Molex) Receptacle: 36210-0100PL Shell kit: 36310-32.
1. LINEAR ENCODER 1 - 15 1.2.3 ST741A/ST742A/ST743A/ST744A (1) Cable composition Prepare a cable based on the following configuration diagram. (a) For the linear servo motor 1) MR-J4-_A_, MR-J4-_B_, o.
1. LINEAR ENCODER 1 - 16 2) MR-J4-_A_-RJ or MR-J 4-_B_-RJ servo amplifier MR-J4-_A_-RJ or MR-J4-_B_-RJ servo amplifier Personal computer Sof twa re for signal adjustment Conversion unit For the signal adjustment and confirmation, connect the following equipments.
1. LINEAR ENCODER 1 - 17 (b) For the fully closed loop syst em and scale measurement function 1) MR-J4-_A_/MR-J4-_B_/MR-J4W 2-_B servo amplifier or MR-J4-DU_A_/MR-J4-DU_B_ drive unit Personal computer Software for signal adjustment Conversion unit For the signal adjustment and confirmation, connect the following equipments.
1. LINEAR ENCODER 1 - 18 2) MR-J4-_A_-RJ/MR-J4-_B_-RJ servo amplifier or MR-J4-DU_A_-RJ/MR-J4-DU_B_-RJ drive unit CN2 MR-J4-_A_-RJ / MR-J4-_B_-RJ servo amplifier or MR-J4-DU_A_-RJ/ MR-J4-DU_B_-RJ driv.
1. LINEAR ENCODER 1 - 19 (2) Production of encoder cable Produce the load side encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder cable can be produced as the length of maximum 30 m. (a) Encoder cable 1 View seen from wiring side.
1. LINEAR ENCODER 1 - 20 (b) Encoder cable 2 View seen from wiring side. (Note 3) or View seen from wiring side. (Note 3) Connector set: 54599-1019 (Molex) Connector set (option ) MR-J3CN2 Receptacle:.
1. LINEAR ENCODER 1 - 21 1.3 Linear encoder manufactured by Heidenhain POINT When the absolute position det ection system is configur ed, the absolute position battery is not required. 1.3.1 LC 493M/LC 193M (absolute type) POINT This linear encoder is of four-wire ty pe.
1. LINEAR ENCODER 1 - 22 (1) Cable composition Prepare a cable based on the following configuration diagram. (a) For the linear servo motor 1) MR-J4-_A_, MR-J4-_B_, or MR-J4W_-_B servo amplifier Encod.
1. LINEAR ENCODER 1 - 23 2) MR-J4-_A_-RJ or MR-J 4-_B_-RJ servo amplifier Linear encoder LC 493M or LC 193M 2) 1) 3) Encoder cable 1 4) Output cable Thermistor of linear servo motor Branch cable CN2 C.
1. LINEAR ENCODER 1 - 24 (2) Production of encoder cable Produce the encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder cable can be produced as the length of maximum 30 m. (a) Encoder cable 1 MXR MX MXR MX View seen from wiring side.
1. LINEAR ENCODER 1 - 25 (b) Encoder cable 2 View seen from wiring side. (Note 3) or View seen from wiring side. (Note 3) Connector set: 54599-1019 (Molex) Connector set (option) MR-J3CN2 Receptacle: .
1. LINEAR ENCODER 1 - 26 1.3.2 LIC 4193M/LIC 4195M/LIC 4197M/LIC 4199M (absolute type) POINT These linear encoders have two-wire ty pe and four-wire type. When using a four-wire type linear encoder, change the param eter to select the four-wire type. For changing parameters, refer to each servo amplifier instruction manual.
1. LINEAR ENCODER 1 - 27 2) MR-J4-_A_-RJ or MR-J 4-_B_-RJ servo amplifier MR-J4-_A_-RJ or MR-J4-_B_-RJ servo amplifier Linear encoder LIC 4193M, LIC 4195M, LIC 4197M, or LIC 4199M 1) Head cable Encode.
1. LINEAR ENCODER 1 - 28 (b) When using for fully closed loop sy stem and scale measurement function 1) MR-J4-_A_/MR-J4-_B_/MR-J4W 2-_B servo amplifier or MR-J4-DU_A_/MR-J4-DU_B_ drive unit (two-wire .
1. LINEAR ENCODER 1 - 29 (2) Fabrication of the encoder cable Produce the load-side encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder cable can be produced as the length of maximum 30 m. (a) Encoder cable 1 (two-wire type) View seen from the wiring side.
1. LINEAR ENCODER 1 - 30 (b) Encoder cable 2 (four-wire type) MXR MX MXR MX View seen from the wiring side. (Note 3) 1 P5 37 9 4 MRR 2 LG 8 61 0 5 or 4 MRR 2 LG 8 6 1 P5 5 10 37 9 View seen from the wiring side.
1. LINEAR ENCODER 1 - 31 (c) Encoder cable 3 (two-wire type) View seen from the wiring side. (Note 3 ) 1 P5 37 9 4 MRR 2 LG 8 61 0 5 or 4 MRR 2 LG 8 6 1 P5 5 10 37 9 View seen from the wiring side.
1. LINEAR ENCODER 1 - 32 (d) Encoder cable 4 (four-wire type) MXR MX MXR MX View seen from the wiring side. (Note 3 ) 1 P5 37 9 4 MRR 2 LG 8 61 0 5 or 4 MRR 2 LG 8 6 1 P5 5 10 37 9 View seen from the wiring side.
1. LINEAR ENCODER 1 - 33 1.3.3 LIDA 483, LIDA 485, LIDA 487, LIDA 489, LIDA 287, LIDA 289, LIF 481, or LIP 581 + EIB 392M (incremental type) POINT This linear encoder is of four-wire ty pe. When using this linear encoder, change the parameter to select the four-wire type.
1. LINEAR ENCODER 1 - 34 2) MR-J4-_A_-RJ or MR-J 4-_B_-RJ servo amplifier MR-J4-_A_-RJ or MR-J4-_B_-RJ servo amplifier Linear encoder LIDA 483, LID A 485, LIDA 487, LIDA 489, LID A 287, LIDA 289, LIF .
1. LINEAR ENCODER 1 - 35 (b) When using for fully closed loop sy stem and scale measurement function MR-J4-_A_-RJ/MR-J4-_B_-RJ servo amplifier or MR-J4-DU_A_-RJ/MR-J4-DU_B_-RJ drive unit MR-J4-_A_-RJ/.
1. LINEAR ENCODER 1 - 36 (2) Production of encoder cable Produce the encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder cable can be produced as the length of maximum 30 m. (a) Encoder cable 1 MXR MX MXR MX View seen from wiring side.
1. LINEAR ENCODER 1 - 37 (b) Encoder cable 2 View seen from wiring side. (Note 3) or View seen from wiring side. (Note 3) Connector set: 54599-1019 (Molex) Connector set (option) MR-J3CN2 Receptacle: .
1. LINEAR ENCODER 1 - 38 1.4 Linear encoder manufactured by Magnescale POINT SR77 and SR87 are absolute type. SR75 and SR85 are incremental position type. When the absolute position det ection system is configur ed, the absolute position battery is not required.
1. LINEAR ENCODER 1 - 39 (b) For the fully closed loop syst em and scale measurement function 1) MR-J4-_A_/MR-J4-_B_/MR-J4W 2-_B servo amplifier or MR-J4-DU_A_/MR-J4-DU_B_ drive unit CN2B CN2A CN2 MR-.
1. LINEAR ENCODER 1 - 40 1.4.2 SL710 + PL101-RM/RHM (incremental type) (1) Cable composition Prepare a cable based on the following configuration diagram.
1. LINEAR ENCODER 1 - 41 2) MR-J4-_A_-RJ or MR-J 4-_B_-RJ servo amplifier MR-J4-_A_-RJ or MR-J4-_B_-RJ servo amplifier 2) 3) Interpolator MJ832 Linear encoder SL710 Thermistor of linear servo motor Br.
1. LINEAR ENCODER 1 - 42 (b) For the fully closed loop syst em and scale measurement function 1) MR-J4-_A_/MR-J4-_B_/MR-J4W 2-_B servo amplifier or MR-J4-DU_A_/MR-J4-DU_B_ drive unit Encoder cable 1 E.
1. LINEAR ENCODER 1 - 43 (2) Production of encoder cable between the servo amplifier and the interpolator Produce the encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder cable can be produced as the length of maximum 30 m.
1. LINEAR ENCODER 1 - 44 (b) Encoder cable 2 View seen from wiring side. (Note 3) or View seen from wiring side. (Note 3) Connector set: 54599-1019 (Molex) Connector set (option) MR-J3CN2 Receptacle: .
1. LINEAR ENCODER 1 - 45 1.5 Linear encoder RESOLUTE RL40M (absolute position type) manufactured by Renishaw POINT When the absolute position det ection system is configur ed, the absolute position battery is not required. (1) Cable composition Prepare a cable based on the following configuration diagram.
1. LINEAR ENCODER 1 - 46 2) MR-J4-_A_-RJ or MR-J 4-_B_-RJ servo amplifier MR-J4-_A_-RJ or MR-J4-_B_-RJ servo amplifier Linear encoder RESOLUTE RL40M 2) Output cable 1) Thermistor of linear servo motor.
1. LINEAR ENCODER 1 - 47 (b) For the fully closed loop syst em and scale measurement function 1) MR-J4-_A_/MR-J4-_B_/MR-J4W 2-_B servo amplifier or MR-J4-DU_A_/MR-J4-DU_B_ drive unit Encoder cable 1 2.
1. LINEAR ENCODER 1 - 48 (2) Production of encoder cable Produce the encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder cable can be produced as the length of maximum 30 m. (a) Encoder cable 1 View seen from wiring side. (Note 3) 1 P5 37 9 4 MRR 2 LG 8 61 0 5 or 4 MRR 2 LG 8 6 1 P5 5 10 37 9 View seen from wiring side.
1. LINEAR ENCODER 1 - 49 (b) Encoder cable 2 View seen from wiring side. (Note 3) or View seen from wiring side. (Note 3) Connector set: 54599-1019 (Molex) Connector set (option) MR-J3CN2 Receptacle: .
1. LINEAR ENCODER 1 - 50 1.6 Linear encoder PSLH041 manufactured by NIDEC SANKYO (Incremental type) (1) Cable structure Prepare a cable based on the following configuration diagram.
1. LINEAR ENCODER 1 - 51 2) MR-J4-_A_-RJ or MR-J 4-_B_-RJ servo amplifier CN2 MR-J4-_A_-RJ or MR-J4-_B_-RJ servo amplifier Linear encoder PSLH041 2) Output cable 1) Thermistor of linear servo motor Br.
1. LINEAR ENCODER 1 - 52 2) MR-J4-_A_-RJ/MR-J4-_B_-RJ servo amplifie r or MR-J4-DU_A_-RJ/MR-J4-DU_B_-RJ drive unit Encoder of rotary servo motor CN2 MR-J4-_A_-RJ/ MR-J4-_B_-RJ servo amplifier or MR-J4.
1. LINEAR ENCODER 1 - 53 (2) Fabrication of the encoder cable Produce the load-side encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder cable can be produced as the length of maximum 30 m. (a) Encoder cable 1 View seen from the wiring side.
1. LINEAR ENCODER 1 - 54 (b) Encoder cable 2 View seen from the wiring side. (Note 3) 1 P5 37 9 4 MRR 2 LG 8 61 0 5 or 4 MRR 2 LG 8 6 1 P5 5 10 37 9 View seen from the wiring side.
1. LINEAR ENCODER 1 - 55 1.7 A/B/Z-phase differential output linear encoder POINT When using a linear encoder of A/B/Z-phas e differential output method, use an MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ. This section explains the connection of the A/B/Z- phase differential output linear encoder.
1. LINEAR ENCODER 1 - 56 (3) Internal wiring diagram For fabrication, use a cable durable against the long period of bending action. Even though the cable length is max. 30 m for the RS-422 communication, the length may be shortened due to the power supply voltage drop or the spec ifications of linear encoder.
1. LINEAR ENCODER 1 - 57 2) When the consumption current of the linear encoder is more than 350 mA POINT When turning on the power, turn on the linear encoder and then turn on the servo amplifier. When turning off the pow er, turn off the servo amplifier and then turn off the linear encoder.
1. LINEAR ENCODER 1 - 58 MEMO.
2. OPTION CABLE/CONNECTOR SETS 2 - 1 2. OPTION CABLE/CONNECTOR SETS 2.1 MR-EKCBL_M-H encoder cable (1) Model explanations 2 5 2 5 Symbol Cable length [m] Long bending life Model: (2) Cable structure The table shows this optional cable structure.
2. OPTION CABLE/CONNECTOR SETS 2 - 2 (3) Internal wiring diagram P5 LG 1 2 MR MRR 3 4 3 7 Servo amplifier side Linear encoder side 9 SD Plate 1 2 8 9 LG RQ /RQ FG P5 2.2 MR-ECNM connector set The following shows the connector combination for this connector set.
2. OPTION CABLE/CONNECTOR SETS 2 - 3 2.4 MR-J4THCBL03M branch cable This branch cable is for connecting the thermistor of linear servo motor and the linear encoder to CN2 connector. When fabricating the branch cable usi ng MR-J3THMCN2 connector set, refer to App.
2. OPTION CABLE/CONNECTOR SETS 2 - 4 2.5 MR-J4FCCBL03M branch cable This branch cable is for connecti ng the encoder of rotary servo motor and the load-side encoder to CN2 connector. When fabricating the branch cable usi ng MR-J3THMCN2 connector set, refer to App.
3. DETAILED EXPLANATION OF [AL. 2A LINEAR ENCODER ERROR 1] 3 - 1 3. DETAILED EXPLANATION OF [AL. 2A LINEAR ENCODER ERROR 1] If the cause of [AL. 2A Linear encoder error 1] occurrenc e is not identified, confirm the alarm display details of MR Configurator2, and contact each manufacturer.
3. DETAILED EXPLANATION OF [AL. 2A LINEAR ENCODER ERROR 1] 3 - 2 MEMO.
APPENDIX App. - 1 App. 1 Production of branch cable for linear servo motor Produce the branch cable using MR-J3THMCN2 connecto r set as shown in the connection diagram in section 2.
REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Mar. 2012 SH(NA)030111-A First edition May 2012 SH(NA)030111-B Chapter 1 Section 1.2.1 (1) Section 1.2.1 (2) (b) Section 1.2.2 (1) Section 1.
Print Data *Manual Number Revision Mar. 2014 SH(NA)030111-E Section 1.1 (1) Changed. Sep. 2014 SH(NA)030111-F Encoder and large capacity servo amplifiers are added. Chapter 1 Section 1.2.1 (2) Section 1.2.2 (2) Section 1.2.3 (2) Section 1.3.1 (2) Section 1.
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corpor ation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of t heir respective companies. Countr y /Re g ion Sales office Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC.
Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "P roduct" ari.
SH(NA)030111-F.
SH (NA) 030111-F (1409) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo compatible HEAD.
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