Mitsubishi Electronics ICW947 User Manual

General-Purpose AC Servo

compatible

LINEAR ENCODER

INSTRUCTION MANUAL

F

Safety Instructions

Please read the instructions carefully before using the equipment.

Do not attempt to install, operate, maintain or inspect the equipment until you have read through this Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

CAUTION

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

resulting in medium or slight injury to personnel or may cause physical damage.

Indicates what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this Instruction Manual, keep it accessible to the operator.

A - 1

MEMO

A - 2

1. LINEAR ENCODER

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

CAUTION

manufacturer.

POINT

Always use the linear encoder cable introduced in this chapter. Using other products may cause a malfunction. For details of the linear encoder specifications, performance and assurance, contact each linear encoder manufacturer. A linear encoder communication method cannot be used depending on the software version of the servo amplifier. Refer to section 1.1 for combinations of the communication methods and software versions. When the linear encoder is incorrectly installed, an alarm or a position mismatch may occur. In this case, refer to the following general checking points for the linear encoder to confirm the installation.

Check that the gap between the head and scale is proper. Check the scale head for rolling and yawing (looseness of scale head section). Check the scale surface for contamination and scratches. Check that the vibration and temperature are within the specified range.

Check that the speed is within the permissible range without overshooting. Refer to section 1.1 for combinations of the linear encoders and servo amplifiers. When using a shell kit (36310-3200-008/36310-F200-008) of 3M or connector set (54599-1019) of Molex, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

Cable

Ground plate

Screw

1 - 1

1. LINEAR ENCODER

1.1 Compatible linear encoder list

Linear encoder type Manufacturer Model Resolution

SR77

SR87 3040 mm

LC 493M

LC 193M 4240 mm

LIC 4193M LIC 4195M 28040 mm LIC 4197M 6040 mm

LIC 4199M 1020 mm

SR75 SR85 3040 mm

SL710 +

PL101-RM/RHM

LIDA 483 + EIB 392M

(/16384)

LIDA 485 + EIB 392M

(/16384)

LIDA 487 + EIB 392M

(/16384)

LIDA 489 + EIB 392M

(/16384)

LIDA 287 + EIB 392M

(/16384)

LIDA 289 + EIB 392M

(/16384)

LIF 481 + EIB 392M

(/4096)

LIP 581 + EIB 392M

(/4096)

Mitsubishi

serial interface

compatibility

A/B/Z-phase

differential

output type

Absolute

position type

Incremental

type

Incremental

type

Magnescale

AT343A AT543A-SC 2.5 m/s 2200 mm

AT545A-SC

Mitutoyo ST741A

ST742A ST743A 4.0 m/s 6000 mm ST744A 0.1 µm ST748A

Renishaw RESOLUTE RL40M 1 nm/50 nm 4.0 m/s 10000 mm

Heidenhain

Magnescale

Heidenhain

NIDEC SANKYO PSLH041 (Note 6) 0.1 μm 5.0 m/s 2400 mm

Not specified

Rated speed

(Note 1)

0.05 µm/

0.01 µm

0.05 µm

20 µm/4096

(approx. 0.005

µm)

0.5 µm

0.05 μm/

0.01 μm

0.01 μm 4.0 m/s

0.05 μm/

0.01 μm

0.1 µm 4.0 m/s 100000 mm

20 μm/16384 (approx. 1.22

nm)

200 μm/16384

(approx. 12.2

nm)

4 μm/4096

(approx. 0.977

nm)

0.001 µm to 5 µm

(Note 3)

3.3 m/s

2.0 m/s 3000 mm

2.5 m/s 2200 mm

3.0 m/s

3.3 m/s

4.0 m/s

1.2 m/s

Depends

on the

linear

encoder

Effective

measurement

(maximum)

(Note 2)

2040 mm Two-

2040 mm

3040 mm Two-

2040 mm

3040 mm

to 30040 mm

6040 mm

1020 mm

10000 mm

1020 mm 1440 mm

Depends on

the linear

encoder

length

Commu-

nication method

(Note 4)

method (Note 5)

wire type

Two-

wire type

Two-

wire type

Four-

wire type

wire

type/ Four-

wire type

Two-

wire type

Four-

wire type

Two-

wire type

A/B/Zphase

differe-

ntial

output

Absolute

position

detection

system

Note 1. The indicated value is the rated speed of linear encoder when combined with MR-J4 servo amplifier. It may be different from

the specifications of each manufacturer.

2. The indicated value is the specification value of manufacturer. The encoder cable length between the linear encoder and the servo amplifier is maximum 30 m.

3. Please select a linear encoder within the range.

4. When using a linear encoder of four-wire type with fully closed loop control, use an MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ. When using a linear encoder of four-wire type with scale measurement function, use an MR-J4-(DU)_B_-RJ.

5. When using a linear encoder of A/B/Z-phase differential output method, use an MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ.

6. This can be used with servo amplifier with software version B3 or later.

1 - 2

1. LINEAR ENCODER

_

The following table shows connectors of servo amplifiers to connect a linear encoder.

(1) For an MR-J4-_A(1)(-RJ), MR-J4-_B(1)(-RJ), and MR-J4W_-_B servo amplifiers

Operation

mode

Linear servo motor system

Fully closed loop system

Scale measurement function

External encoder

communication

method

Two-wire type

Four-wire type

A/B/Z-phase differential output method

Two-wire type

Four-wire type A/B/Z-phase

differential output method

Two-wire type

Four-wire type A/B/Z-phase

differential output method

MR-J4-_A

MR-J4-_A1

CN2

(Note 1, 6)

CN2

(Note 2, 3, 6)

MR-J4-_A-RJ

MR-J4-_A1-RJ

CN2

(Note 1)

CN2L

(Note 8)

CN2L

Note 1. The MR-J4THCBL03M branch cable is necessary.

2. The MR-J4FCCBL03M branch cable is necessary.

3. When the communication method of the servo motor encoder is four-wire type, MR-J4-_A(1) and MR-J4-_B(1) cannot be used. Use an MR-J4-_A(1)-RJ or MR-J4-_B(1)-RJ.

4. When the communication method of the servo motor encoder is four-wire type, MR-J4W2-_B cannot be used. Use an MR-J4-

B-RJ.

5. Supported by servo amplifiers with software version A3 or above.

6. Supported by servo amplifiers with software version A5 or above.

7. Supported by servo amplifiers with software version A8 or above.

8. Connect a thermistor to CN2.

External connection connector

MR-J4-_B

MR-J4-_B1

CN2

(Note 1)

CN2

(Note 2, 3, 5)

CN2

(Note 2, 3, 7)

MR-J4-_B-RJ

MR-J4-_B1-RJ

CN2

(Note 1)

CN2L

(Note 8)

CN2L

(Note 7)

MR-J4W2-_B MR-J4W3-_B

CN2A

(Note 1)

CN2B

(Note 1)

CN2A

(Note 2, 4, 5)

CN2B

(Note 2, 4, 5)

CN2A

(Note 2, 4, 7)

CN2B

(Note 2, 4, 7)

(Note 1)

CN2B

(Note 1)

CN2C

(Note 1)

1 - 3

1. LINEAR ENCODER

(2) For an MR-J4-_A4(-RJ) and MR-J4-_B4(-RJ) servo amplifiers

Operation

mode

Linear servo motor system

Fully closed loop system

Scale measurement function

External encoder

communication

method Two-wire type Four-wire type A/B/Z-phase

differential output method

Two-wire type

Four-wire type A/B/Z-phase

differential output method

Two-wire type

Four-wire type A/B/Z-phase

differential output method

MR-J4-_A4 MR-J4-_A4-RJ MR-J4-_B4 MR-J4-_B4-RJ

CN2

(Note 1)

CN2

(Note 2, 3)

Note 1. The MR-J4THCBL03M branch cable is necessary.

2. The MR-J4FCCBL03M branch cable is necessary.

3. When the communication method of the servo motor encoder is four-wire type, MR-J4-_A4 and MR-J4-_B4 cannot be used. Use an MR-J4-_A4-RJ or MR-J4-_B4-RJ.

4. Supported by servo amplifiers with software version A8 or above.

5. Connect a thermistor to CN2.

(3) For an MR-J4-DU_A_(-RJ) and MR-J4-DU_B_(-RJ) drive units

Operation

mode

Fully closed loop system

Scale measurement function

External encoder

communication

method Two-wire type CN2 (Note 1, 2) Four-wire type

A/B/Z-phase

differential output

method Two-wire type Four-wire type

A/B/Z-phase

differential output

method

MR-J4-DU_A_ MR-J4-DU_A_-RJ MR-J4-DU_B_ MR-J4-DU_B_-RJ

Note 1. The MR-J4FCCBL03M branch cable is necessary.

2. When the communication method of the servo motor encoder is four-wire type, MR-J4-DU_A_ and MR-J4-DU_B_ cannot be used. Use an MR-J4-DU_A_-RJ or MR-J4-DU_B_-RJ.

External connection connector

CN2

(Note 1)

CN2L

(Note 5)

CN2L

External connection connector

CN2L

CN2

(Note 1)

CN2

(Note 2, 3)

CN2

(Note 2, 3, 4)

CN2 (Note 1, 2)

CN2

(Note 1)

CN2L

(Note 5)

CN2L

(Note 4)

CN2L

1 - 4

1. LINEAR ENCODER

1.2 Linear encoder manufactured by Mitutoyo (absolute type)

POINT

When the absolute position detection system is configured, the absolute position battery is not required.

1.2.1 AT343A

(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

Encoder cable 2

MR-J4-_A_

or

MR-J4-_B_

servo amplifier

CN2

Encoder cable 1

1)

5)

Thermistor of linear servo motor

Linear encoder AT343A

3)

MR-J4W_-_B

servo amplifier

CN2A CN2B

(Note 1)

CN2C

Branch cable

CN2 4) SCALE

THMor(Note 3)

Branch cable Encoder cable Output cable When using an

optional encoder cable

When fabricating the encoder cable

When not using a branch cable

Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not

have CN2C.

2. It should be prepared by the customer.

3. For connectors for thermistor signals, change how to connect depending on the customer's system.

4) MR-J4THCBL03M

5) Connector set MR-ECNM

Thermistor of linear servo motor

1) MR-EKCBL_M-H

(Refer to section

2.4.)

2) Connector set MR-ECNM

2)

2 m/5 m (Refer to section

2.1.)

(Refer to (2) (a) of this section.)

(Refer to (2) (b) of this section.)

3) Options manufactured by Mitutoyo (Note 2)

Part No.09BAA598A: 0.2 m Part No.09BAA598B: 2 m Part No.09BAA598C: 3 m

1 - 5

1. LINEAR ENCODER

2) MR-J4-_A_-RJ or MR-J4-_B_-RJ servo amplifier

Encoder cable 2

MR-J4-_A_-RJ

or MR-J4-_B_-RJ servo amplifier

CN2

CN2L

5)

Thermistor of linear servo motor

Encoder cable 1

1)

Linear encoder AT343A

3)

Branch cable

CN2 4) SCALE

THM (Note 2)

Branch cable Encoder cable Output cable When using an

optional encoder cable

When fabricating the encoder cable

When not using a branch cable

Note 1. It should be prepared by the customer.

2. For connectors for thermistor signals, change how to connect depending on the customer's system.

4) MR-J4THCBL03M

5) Connector set MR-ECNM

Thermistor of linear servo motor

1) MR-EKCBL_M-H

(Refer to section

2.4.)

2) Connector set MR-ECNM

2)

2 m/5 m (Refer to section

2.1.)

(Refer to (2) (a) of this section.)

(Refer to (2) (b) of this section.)

3) Options manufactured by Mitutoyo (Note 1)

Part No.09BAA598A: 0.2 m Part No.09BAA598B: 2 m Part No.09BAA598C: 3 m

1 - 6

1. LINEAR ENCODER

(b) For the fully closed loop system and scale measurement function

1) MR-J4-_A_/MR-J4-_B_/MR-J4W2-_B servo amplifier or MR-J4-DU_A_/MR-J4-DU_B_ drive unit

MR-J4-_A_/

MR-J4-_B_

servo amplifier

or

MR-J4-DU_A_/

MR-J4-DU_B_

drive unit

CN2

Encoder cable 1

1)

Linear encoder AT343A

or

MR-J4W2-_B

servo amplifier

CN2A CN2B

3)

Branch cable

CN2 4) SCALE

MOTOR

Branch cable Encoder cable Output cable When using an

optional encoder cable

When fabricating the encoder cable

Note. It should be prepared by the customer.

4) MR-J4FCCBL03M

Encoder of rotary servo motor

1) MR-EKCBL_M-H

(Refer to section

2.5.)

2) Connector set MR-ECNM

2)

2 m/5 m (Refer to section

2.1.)

(Refer to (2) (a) of this section.)

3) Options manufactured by Mitutoyo (Note)

Part No.09BAA598A: 0.2 m Part No.09BAA598B: 2 m Part No.09BAA598C: 3 m

2) 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/

MR-J4-_B_-RJ

servo amplifier

or

MR-J4-DU_A_-RJ/

MR-J4-DU_B_-RJ

drive unit

CN2

CN2L

Encoder cable Output cable When using an

optional encoder cable

When fabricating the encoder cable

Encoder of rotary servo motor

Encoder cable 1

1)

1) MR-EKCBL_M-H

2) Connector set MR-ECNM

3)

2)

2 m/5 m (Refer to section

2.1.)

(Refer to (2) (a) of this section.)

Linear encoder AT343A

3) Options manufactured by Mitutoyo (Note)

Part No.09BAA598A: 0.2 m Part No.09BAA598B: 2 m Part No.09BAA598C: 3 m

Note. It should be prepared by the customer.

1 - 7

1. LINEAR ENCODER

(2) Production of encoder cable

Produce the encoder cable using MR-ECNM as shown below. The encoder cable can be produced as the length of maximum 30 m.

(a) Encoder cable 1

Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

2

LG 8

1

P5

View seen from wiring side. (Note 3)

Connector set: 54599-1019 (Molex)

2

LG

1P5379

6

4

MRR

5

37

MR

or

4

MRR

5

MR

(Note 2)

10

9

(Note 2)

8610

(Note 2)

Servo amplifier side Linear encoder side

P5 LG

MR MRR34

Plate

SD

1 2

(Note 1)

P5

7

LG

8

RQ

1 2

/RQ

FG

9

Housing: 1-172161-9 Connector pin: 170359-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industry)

123

RQ

View seen from wiring side.

/RQ

456

789

P5

LG FG

View seen from wiring side. (Note 3)

Note 1. We recommend the following specifications encoder cables.

Wiring length

to 5 m 1-pair to 10 m 2-pair to 20 m 3-pair to 30 m 5-pair

Number of LG and P5 connections

(when the output cable is 3 m or less)

2. For the CN2L connector, signals of pin 3 and pin 4 will be as follows. Pin 3: MR2 Pin 4: MRR2

3. Do not connect anything to the pins shown as any other pin, the servo amplifier cannot operate normally. Referring POINT of chapter 1, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

. Especially, pin 10 is for manufacturer adjustment. If it is connected with

Cable size

AWG 22

1 - 8

1. LINEAR ENCODER

(b) Encoder cable 2

Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

2

LG 8

1

P5

View seen from wiring side. (Note 3)

Connector set: 54599-1019 (Molex)

2

LG

1P5379

View seen from wiring side. (Note 3)

6

THM2

4

MRR

5

THM1

37

MR

4

THM2

MRR

5

THM1

MR

10

or

8610

9

Servo amplifier side Linear encoder side

SD Plate 9 FG

(Note 1)

AWG 24 to 20

P5 LG

MR MRR34 THM1 THM256

1 2

P5

7

LG

8

1

RQ

2

/RQ

Thermistor of linear servo motor (Note 2)

Note 1. We recommend the following specifications encoder cables.

Wiring length

to 5 m 1-pair to 10 m 2-pair to 20 m 3-pair to 30 m 5-pair

Number of LG and P5 connections

(when the output cable is 3 m or less)

2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction Manual".

3. Do not connect anything to the pins shown as any other pin, the servo amplifier cannot operate normally. Referring POINT of chapter 1, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

. Especially, pin 10 is for manufacturer adjustment. If it is connected with

Housing: 1-172161-9 Connector pin: 170359-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industry)

View seen from wiring side.

Cable size

AWG 22

123

RQ

/RQ

456

789

P5

LG FG

1 - 9

1. LINEAR ENCODER

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_-_B servo amplifier

Encoder cable 2

4)

MR-J4-_A_

or

MR-J4-_B_

servo amplifier

CN2

Encoder cable 1

1)

Thermistor of linear servo motor

Linear encoder AT543A-SC or AT545A-SC

or

MR-J4W_-_B

servo amplifier

CN2A CN2B

(Note 1)

CN2C

Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not have CN2C.

2. For connectors for thermistor signals, change how to connect depending on the customer's system.

Output cable

2)

Branch cable

CN2 3) SCALE

THM

(Note 2)

Branch cable Encoder cable Output cable Head cable When using an

optional encoder cable

When fabricating the encoder cable

When not using a branch cable

3) MR-J4THCBL03M (Refer to section

2.4.)

4) Connector set MR-ECNM

Thermistor of linear servo motor

1) MR-EKCBL_M-H 2 m/5 m (Refer to section

2.1.)

2) Connector set MR-ECNM (Refer to (2) (a) of this

section.)

(Refer to (2) (b) of this section.)

Accessories for linear encoder

Cable length: 3 m

Head cable

Accessories for linear encoder

Cable length: 2 m

1 - 10

1. LINEAR ENCODER

2) MR-J4-_A_-RJ or MR-J4-_B_-RJ servo amplifier

Encoder cable 2

MR-J4-_A_-RJ

or MR-J4-_B_-RJ servo amplifier

CN2

CN2L

Branch cable

CN2 3) SCALE

Encoder cable 1

4)

Thermistor of linear servo motor

1)

Output cable

2)

Linear encoder AT543A-SC or AT545A-SC

Head cable

THM (Note)

Branch cable Encoder cable Output cable Head cable When using an

optional encoder cable

When fabricating the encoder cable

When not using a branch cable

3) MR-J4THCBL03M (Refer to section

2.4.)

4) Connector set MR-ECNM

Thermistor of linear servo motor

1) MR-EKCBL_M-H 2 m/5 m (Refer to section

2.1.)

2) Connector set MR-ECNM (Refer to (2) (a) of this

section.)

(Refer to (2) (b) of this section.)

Accessories for linear encoder

Cable length: 3 m

Accessories for linear encoder

Cable length: 2 m

Note. For connectors for thermistor signals, change how to connect depending on the customer's system.

1 - 11

1. LINEAR ENCODER

/

(b) For the fully closed loop system and scale measurement function

1) MR-J4-_A_/MR-J4-_B_/MR-J4W2-_B servo amplifier or MR-J4-DU_A_/MR-J4-DU_B_ drive unit

MR-J4-_A_/

MR-J4-_B_

servo amplifier

or

MR-J4-DU_A_/

MR-J4-DU_B_

drive unit

CN2

Encoder cable 1

1)

Linear encoder AT543A-SC or AT545A-SC

or

MR-J4W2-_B

servo amplifier

CN2A CN2B

Branch cable Encoder cable Output cable Head cable When using an

optional encoder cable

When fabricating the encoder cable

2) 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

MR-J4-_B_-RJ servo amplifier

MR-J4-DU_A_-RJ/

MR-J4-DU_B_-RJ

drive unit

CN2 3) SCALE

or

CN2

CN2L

Branch cable

MOTOR

3) MR-J4FCCBL03M (Refer to section

2.5.)

Encoder of rotary servo motor

Encoder cable 1

Output cable

2)

Encoder of rotary servo motor

1) MR-EKCBL_M-H 2 m/5 m (Refer to section

2.1.)

2) Connector set MR-ECNM (Refer to (2) (a) of this

section.)

1)

Accessories for linear encoder

Cable length: 3 m

Linear encoder AT543A-SC or AT545A-SC

Head cable

Accessories for linear encoder

Cable length: 2 m

Output cable

2)

Encoder cable Output cable Head cable When using an

optional encoder cable

When fabricating the encoder cable

1) MR-EKCBL_M-H 2 m/5 m (Refer to section

2.1.)

2) Connector set MR-ECNM (Refer to (2) (a) of this

section.)

Accessories for linear encoder

Cable length: 3 m

Head cable

Accessories for linear encoder

Cable length: 2 m

1 - 12

1. LINEAR ENCODER

(2) Production of encoder cable

Produce the encoder cable using MR-ECNM as shown below. The encoder cable can be produced as the length of maximum 30 m.

(a) Encoder cable 1

Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) (Note 2)

2

LG 8

1

P5

View seen from wiring side. (Note 3)

Connector set: 54599-1019 (Molex)

2

LG

1P5379

6

4

MRR

5

37

MR

4

MRR

5

MR

10

or

8610

9

(Note 2)

Servo amplifier side Linear encoder side

P5 LG

MR MRR34

Plate

SD

1 2

(Note 1)

7 8

1 2

9

P5 (+5V) LG (0V)

RQ /RQ

FG

Housing: 1-172161-9 Connector pin: 170359-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industry)

123

RQ

View seen from wiring side.

/RQ

456

789

P5

(+5 V)LG(0 V)

FG

View seen from wiring side. (Note 3)

Note 1. We recommend the following specifications encoder cables.

Wiring length

to 5 m 1-pair to 10 m 2-pair to 20 m 4-pair to 30 m 5-pair

Number of LG and P5 connections

(when the output cable is 3 m or less)

2. For the CN2L connector, signals of pin 3 and pin 4 will be as follows. Pin 3: MR2 Pin 4: MRR2

3. Do not connect anything to the pins shown as any other pin, the servo amplifier cannot operate normally. Referring POINT of chapter 1, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

. Especially, pin 10 is for manufacturer adjustment. If it is connected with

Cable size

AWG 22

1 - 13

1. LINEAR ENCODER

(b) Encoder cable 2

Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

2

LG 8

1

P5

6

THM2

4

MRR

5

THM1

37

10

9

MR

View seen from wiring side. (Note 3)

or

Servo amplifier side Linear encoder side

SD Plate 9 FG

P5 LG

1 2

(Note 1)

MR MRR34 THM1 THM256

P5 (+5V)

7

P5 LG (0V)

8LG

1

RQ

2

/RQ

Connector set: 54599-1019 (Molex)

2

4

MRR

LG

1P5379

MR

8610

THM2

5

THM1

AWG 24 to 20

Thermistor of linear servo motor (Note 2)

View seen from wiring side. (Note 3)

Note 1. We recommend the following specifications encoder cables.

Wiring length

to 5 m 1-pair to 10 m 2-pair to 20 m 4-pair to 30 m 5-pair

Number of LG and P5 connections

(when the output cable is 3 m or less)

2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction Manual".

3. Do not connect anything to the pins shown as any other pin, the servo amplifier cannot operate normally. Referring POINT of chapter 1, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

. Especially, pin 10 is for manufacturer adjustment. If it is connected with

Housing: 1-172161-9 Connector pin: 170359-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industry)

View seen from wiring side.

Cable size

AWG 22

1

23

RQ

/RQ

456

789

P5

LG

(0 V)

FG

(+5 V)

1 - 14

1. LINEAR ENCODER

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_, or MR-J4W_-_B servo amplifier

Encoder cable 2

MR-J4-_A_

or

MR-J4-_B_

servo amplifier

CN2

Encoder cable 1

3)5)

Thermistor of linear servo motor

Linear encoder ST741A, ST742A, ST743A,

1)

ST744A or ST748A

or

MR-J4W_-_B

servo amplifier

Branch cable

CN2A CN2B CN2C

(Note 1)

For the signal adjustment and confirmation, connect the following equipments. (Note 3)

Software for

signal adjustment

Branch cable Encoder cable Head cable When using an

optional encoder cable

When fabricating the encoder cable

When not using a branch cable

4) SCALECN2

THM (Note 4)

Personal computer

4) MR-J4THCBL03M (Refer to section

2.4.)

5) Connector set MR-J3CN2

1) Options manufactured by Mitutoyo (Note 2)

2) Connector set MR-J3CN2

Thermistor of linear servo motor

Conversion unit

Part No.06ACF117A: 5 m Part No.06ACF117B: 10 m

(Refer to (2) (a) of this section.)

(Refer to (2) (b) of this section.)

2) 3)

3) Junction connector (Note 2) D-SUB (female) 15 pin Shell: HDAB-15S Plug case: HDA-CTH (manufactured by Hirose

Electric)

Head cable

Accessories for linear encoder

Cable length: 1 m

Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not have CN2C.

2. It should be prepared by the customer.

3. When mounting ST741A, ST742A, ST743A, ST744A or ST748A, a personal computer (with RS-232C port) for the signal adjustment and confirmation, and a software and conversion unit for signal adjustment are required. For details, contact Mitutoyo.

4. For connectors for thermistor signals, change how to connect depending on the customer's system.

1 - 15

1. LINEAR ENCODER

2) MR-J4-_A_-RJ or MR-J4-_B_-RJ servo amplifier

MR-J4-_A_-RJ

or MR-J4-_B_-RJ servo amplifier

CN2

CN2L

Encoder cable 2

Encoder cable 1

1)

3)5)

Thermistor of linear servo motor

Linear encoder ST741A, ST742A, ST743A, ST744A, or ST748A

Head cable

Branch cable

CN2

For the signal adjustment and confirmation, connect the following equipments. (Note 2)

Software for

signal adjustment

Branch cable Encoder cable Head cable When using an

optional encoder cable

When fabricating the encoder cable

When not using a branch cable

4) SCALE

THM (Note 3)

Personal computer

4) MR-J4THCBL03M (Refer to section

2.4.)

5) Connector set MR-J3CN2

1) Options manufactured by Mitutoyo (Note 1)

2) Connector set MR-J3CN2

Thermistor of linear servo motor

Conversion unit

Part No.06ACF117A: 5 m Part No.06ACF117B: 10 m

(Refer to (2) (a) of this section.)

(Refer to (2) (b) of this section.)

2)

3)

3) Junction connector (Note 1) D-SUB15 pin (female) Shell: HDAB-15S Plug case: HDA-CTH (Hirose Electric)

Accessories for linear encoder

Cable length: 1 m

Note 1. It should be prepared by the customer.

2. When mounting ST741A, ST742A, ST743A, ST744A, or ST748A, a personal computer (with RS-232C port) for the signal adjustment and confirmation, and a software and conversion unit for signal adjustment are required. For details, contact Mitutoyo.

3. For connectors for thermistor signals, change how to connect depending on the customer's system.

1 - 16

1. LINEAR ENCODER

(b) For the fully closed loop system and scale measurement function

1) MR-J4-_A_/MR-J4-_B_/MR-J4W2-_B servo amplifier or MR-J4-DU_A_/MR-J4-DU_B_ drive unit

MR-J4-_A_/

MR-J4-_B_

servo amplifier

or

MR-J4-DU_A_/

MR-J4-DU_B_

drive unit

CN2

or

MR-J4W2-_B

servo amplifier

CN2A CN2B

For the signal adjustment and confirmation, connect the following equipments. (Note 2)

Software for

signal adjustment

Branch cable

CN2 4) SCALE

MOTOR

Personal computer

Encoder of rotary servo motor

Conversion unit

Encoder cable 1

1)

2) 3)

Linear encoder ST741A, ST742A, ST743A, ST744A or ST748A

Head cable

Branch cable Encoder cable Head cable When using an

optional encoder cable

When fabricating the encoder cable

4) MR-J4FCCBL03M (Refer to section

2.5.)

1) Options manufactured by Mitutoyo (Note 1) Part No.06ACF117A: 5 m Part No.06ACF117B: 10 m

2) Connector set MR-J3CN2 (Refer to (2) (a) of this

section.)

3) Junction connector (Note 1) D-SUB (female) 15 Pin shell: HDAB-15S Plug case: HDA-CTH (manufactured by Hirose

Electric)

Accessories for linear encoder

Cable length: 1 m

Note 1. It should be prepared by the customer.

2. When mounting ST741A, ST742A, ST743A, ST744A or ST748A, a personal computer (with RS-232C port) for the signal adjustment and confirmation, and a software and conversion unit for signal adjustment are required. For details, contact Mitutoyo.

1 - 17

1. LINEAR ENCODER

/

2) 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

MR-J4-_B_-RJ

servo amplifier

MR-J4-DU_A_-RJ/

MR-J4-DU_B_-RJ

drive unit

or

CN2

CN2L

For the signal adjustment and confirmation, connect the following equipments. (Note 2)

Software for

signal adjustment

Personal computer

Encoder cable Head cable When using an

optional encoder cable

When fabricating the encoder cable

1) Options manufactured by Mitutoyo (Note 1) Part No.06ACF117A: 5 m Part No.06ACF117B: 10 m

2) Connector set MR-J3CN2 (Refer to (2) (a) of this

section.)

Encoder of rotary servo motor

Encoder cable 1

1)

2)

Conversion unit

Linear encoder ST741A, ST742A, ST743A, ST744A or ST748A

Head cable

3)

3) Junction connector (Note 1) D-SUB (female) 15 pin Shell: HDAB-15S Plug case: HDA-CTH (manufactured by Hirose

Electric)

Accessories for linear encoder

Cable length: 1 m

Note 1. It should be prepared by the customer.

2. When mounting ST741A, ST742A, ST743A or ST744A, a personal computer (with RS-232C port) for the signal adjustment and confirmation, and a software and conversion unit for signal adjustment are required. For details, contact Mitutoyo.

1 - 18

Mitsubishi Electronics ICW947 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

CONTENTS

1. LINEAR ENCODER

1.1 Compatible linear encoder list

1.2 Linear encoder manufactured by Mitutoyo (absolute type)

1.2.1 AT343A

1.2.2 AT543A-SC/AT545A-SC

1.2.3 ST741A/ST742A/ST743A/ST744A