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

1. LINEAR ENCODER

)

(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

Connector set (option MR-J3CN2 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

37

MR

4

MRR

MR

10

5

or

8610

5

9

(Note 2)

Servo amplifier side Linear encoder side

(Note 1)

(Note 2)

P5 LG12

MR MRR34

Plate

SD

P5

3

LG

1 4

P5

2LG

7

RQ

8 /RQ

FG

15

Shell: HDAB-15S Shield cover: HDA-CTH (Hirose Electric or equivalent)

42

3

P5

LG

10

9

View seen from wiring side.

5

P5

11 12 13 14 15

RQ

861

7

/RQ

FG

View seen from wiring side. (Note 3)

Note 1. We recommend the following specifications encoder cables.

Wiring length

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

Number of LG and P5 connections

(when the head cable is 1 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

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

Cable size

AWG 22

1 - 19

1. LINEAR ENCODER

)

T

(b) Encoder cable 2

Connector set (option MR-J3CN2 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

or

THM2

THM1

5

8610

MRR

MR

4

10

9

Servo amplifier side Linear encoder side

SD

P5 LG

Plate

1 2

(Note 1)

15 FG

3

P5 1 LG 42P5

LG

MR MRR34

7

RQ 8 /RQ

HM1 HM256

Thermistor of linear servo

AWG 24 to 20

motor (Note 2)

Note 1. We recommend the following specifications encoder cables.

Wiring length

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

Number of LG and P5 connections

(when the head cable is 1 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

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

Shell: HDAB-15S Shield cover: HDA-CTH (Hirose Electric or equivalent)

3

LG

P5

9

10

11 12 13 14 15

View seen from wiring side.

Cable size

AWG 22

P5

42

5

7

RQ

861

/RQ

FG

1 - 20

1. LINEAR ENCODER

1.3 Linear encoder manufactured by Heidenhain

POINT

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

1.3.1 LC 493M/LC 193M (absolute type)

POINT

This linear encoder is of four-wire type. When using this linear encoder, change the parameter to select the four-wire type. For changing parameters, refer to each servo amplifier instruction manual. 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.

1 - 21

1. LINEAR ENCODER

(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

6)

MR-J4-_A_

or

MR-J4-_B_

servo amplifier

Encoder cable 1

1)

2)

Thermistor of linear servo motor

MR-J4W_-_B

servo amplifier

CN2A CN2B

(Note 1)

CN2C

CN2

Branch cable

CN2 5) SCALE

THMor(Note 3)

3)

Thermistor of linear servo motor

4) Output cable

3)

Linear encoder LC 493M or LC 193M

Branch cable Encoder cable

When using an optional encoder cable

When fabricating the encoder cable

When not using a branch cable

5) MR-J4THCBL03M (Refer to section

2.4.)

6) Connector set

1) Options manufactured by Heidenhain (Note 2) 573661-×× _m

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

section.)

MR-J3CN2 (Refer to (2) (b) of this

section.)

3) Junction connector (Note 2) 17-pin coupling (female) 291697-26 (Heidenhain)

Output cable

LC 493M/LC 193M

4) 547300-×× _m (Heidenhain) (Note 2)

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.

1 - 22

1. LINEAR ENCODER

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

6)

MR-J4-_A_-RJ

or MR-J4-_B_-RJ servo amplifier

CN2

CN2L

Encoder cable 2

Encoder cable 1

3)

Thermistor of linear servo motor

Linear encoder LC 493M or LC 193M

1)

4) Output cable

Branch cable

CN2 5) SCALE

THM (Note 2)

Branch cable Encoder cable

When using an optional encoder cable

When fabricating the encoder cable

When not using a branch cable

5) MR-J4THCBL03M (Refer to section

2.4.)

6) Connector set MR-J3CN2

2)

Thermistor of linear servo motor

1) Options manufactured by Heidenhain (Note 1) 573661-×× _m

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

section.)

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

3)

3) Junction connector (Note 1)

17-pin coupling (female) 291697-26 (Heidenhain)

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.

(b) When using for fully closed loop system 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/

MR-J4-_B_-RJ servo amplifier

or

MR-J4-DU_A_-RJ/

MR-J4-DU_B_-RJ

drive unit

CN2

CN2L

Encoder of rotary servo motor

Encoder cable 1

1)

4) Output cable

Linear encoder LC 493M or LC 193M

Output cable

LC 493M, LC 193M

4) 547300-×× _m (Heidenhain) (Note 1)

2)

Encoder cable

When using an optional encoder cable

When fabricating the encoder cable

1) Options manufactured by Heidenhain (Note 1) 573661-×× _m 4) 547300-×× _m

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

section.)

3)

3) Junction connector (Note) 17-pin coupling (female) 291697-26 (Heidenhain)

Output cable

LC 493M/LC 193M

(Heidenhain) (Note)

Note. It should be prepared by the customer.

1 - 23

1. LINEAR ENCODER

(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

Connector set (option) MR-J3CN2 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

MR

MXR

MX

or

8610

MXR

5

MX

10

9

(Note 2)

Servo amplifier side Linear encoder side

P5 LG

MR MRR34

MX MXR SD

Plate

1 2

7 8

(Note 1)

Connector: 17-pin coupling 291697-26 (female) (Heidenhain)

7

5V

10 0V

1

5V/Sensor 4 0V/Sensor 8

RQ 9 /RQ

14

SD

17 /SD

FG

View seen from wiring side. (Note 3)

Note 1. We recommend the following specifications encoder cables.

Wiring length

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

Number of LG and P5 connections

(when the output cable is 1 m or less)

Cable size

AWG 22

2. For the CN2L connector, signals of pin 3, pin 4, pin 7, and pin 8 will be as follows. Pin 3: MR2 Pin 4: MRR2 Pin 7: MX2 Pin 8: MXR2

3. Do not connect anything to the pins shown as adjustment. If it is connected with 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

1 - 24

1. LINEAR ENCODER

(b) Encoder cable 2

Connector set (option) MR-J3CN2 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)

Note 1. We recommend the following specifications encoder cables.

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

3. Do not connect anything to the pins shown as

Servo amplifier side Linear encoder side

Plate

SD

(Note 1)

Connector: 17-pin coupling 291697-26 (female) (Heidenhain)

6

THM2

4

MRR

5

THM1

37

MR

10

MXR

MX

or

4

MRR

THM2

MXR

8610

P5 LG

1 2

9

MR MRR34 MX MXR

7

8 THM1 THM256

5

THM1

MR

Manual".

adjustment. If it is connected with 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.

MX

Wiring length

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

Number of LG and P5 connections

(when the output cable is 1 m or less)

AWG 24 to 20

Cable size

AWG 22

. Especially, pin 10 is for manufacturer

FG

7

5V

10 0V

5V/Sensor

1

0V/Sensor

4 8

RQ

9 /RQ

14

SD

17 /SD

Thermistor of linear servo motor (Note 2)

1 - 25

1. LINEAR ENCODER

1.3.2 LIC 4193M/LIC 4195M/LIC 4197M/LIC 4199M (absolute type)

POINT

These linear encoders have two-wire type and four-wire type. When using a four-wire type linear encoder, change the parameter to select the four-wire type. For changing parameters, refer to each servo amplifier instruction manual. 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.

(1) Cable structure

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

MR-J4-_A_

or

MR-J4-_B_

servo amplifier

Encoder cable 3, 4

5)

3)

CN2

Thermistor of linear servo motor

Linear encoder

or

MR-J4W_-_B

servo amplifier

CN2A CN2B

(Note 1)

CN2C

Encoder cable 1, 2

1)

Branch cable

CN2 4) SCALE

THM (Note 3)

branch cable Encoder cable Head cable When using an

optional encoder cable

When fabricating the encoder cable

When not using a branch cable

4) MR-J4THCBL03M (Refer to section

2.4.)

2) Connector set

5) Connector set

1) Options manufactured by Heidenhain

3)2)

Thermistor of linear servo motor

(Note 2) 630 856-×× _m

3) Junction MR-J3CN2 (Refer to (2) (a),

(b) of this section.)

MR-J3CN2 (Refer to (2) (c),

(d) of this section.)

LIC 4193M, LIC 4195M, LIC 4197M, or LIC 4199M

Head cable

Accessories for linear encoder

Cable length: 1 m

connector

(Note 2)

D-SUB15 pin (female)

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.

1 - 26

1. LINEAR ENCODER

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

Encoder cable 3, 4

5)

MR-J4-_A_-RJ

or MR-J4-_B_-RJ servo amplifier

CN2

CN2L

branch cable Encoder cable Head cable When using an

optional encoder cable

When fabricating the encoder cable

When not using a branch cable

Branch cable

CN2 4) SCALE

THM (Note 2)

4) MR-J4THCBL03M (Refer to section

2.4.)

2) Connector set

5) Connector set

Encoder cable 1, 2

1)

3)2)

Thermistor of linear servo motor

1) Options manufactured by Heidenhain (Note 1)

630 856-×× _m

MR-J3CN2 (Refer to (2) (a),

(b) of this section.)

MR-J3CN2 (Refer to (2) (c),

(d) of this section.)

3)

3) Junction connector

(Note 1)

D-SUB15 pin (female)

Thermistor of linear servo motor

Linear encoder LIC 4193M, LIC 4195M, LIC 4197M, or LIC 4199M

Head cable

Accessories for linear encoder

Cable length: 1 m

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.

1 - 27

1. LINEAR ENCODER

/

(b) When using for 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 (two-wire type only)

MR-J4-_A_

MR-J4-_B_

servo amplifier

or

MR-J4-DU_A_/

MR-J4-DU_B_

drive unit

CN2

Linear encoder

or

MR-J4W2-_B

servo amplifier

CN2A CN2B

branch cable Encoder cable Head cable When using an

optional encoder cable

When fabricating the encoder cable

Branch cable

CN2 4) SCALE

MOTOR

4) MR-J4FCCBL03M (Refer to section

2.5.)

2) Connector set

Encoder cable 1, 2

1)

3)2)

Encoder of rotary servo motor

1) Options manufactured by Heidenhain (Note)

630 856-×× _m

3) Junction MR-J3CN2 (Refer to (2) (a)

of this section.)

LIC 4193M, LIC 4195M, LIC 4197M, or LIC 4199M

Head cable

connector (Note) D-SUB15 pin

(female)

Accessories for linear encoder

Cable length: 1 m

Note. It should be prepared by the customer.

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/

or

MR-J4-DU_B_-RJ

drive unit

CN2

CN2L

Encoder of rotary servo motor

Encoder cable 1, 2

1)

Linear encoder LIC 4193M, LIC 4195M, LIC 4197M, or LIC 4199M

Head cable

2)

Encoder cable Head cable When using an

optional encoder cable

When fabricating the encoder cable

1) Options manufactured by Heidenhain (Note)

630 856-×× _m

2) Connector set MR-J3CN2 (Refer to (2) (a),

(b) of this section.)

3)

Accessories for linear encoder

Cable length: 1 m

3) Junction connector (Note)

D-SUB15 pin (female)

Note. It should be prepared by the customer.

1 - 28

1. LINEAR ENCODER

(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)

Connector set (optional) MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

2

LG 8

1

P5

View seen from the 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

Servo amplifier side Linear encoder side

(Note 1)

Connector: D-SUB

(Note 2)

P5 LG

MR MRR34

SD Plate

1 2

(female) 15 pin

4 2

12 10

8

15

5V 0V

5V/Sensor 0V/Sensor RQ, SD /RQ, /SD

FG

View seen from the 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 4-pair

Number of LG and P5

connections

Wire size

AWG 22

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 adjustment. If it is connected with 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

1 - 29

1. LINEAR ENCODER

(b) Encoder cable 2 (four-wire type)

Connector set (optional) MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

2

LG 8

MRR

1

P5

MR

View seen from the wiring side. (Note 3)

Connector set: 54599-1019 (Molex)

2

MRR

LG

1P5379

MR

View seen from the wiring side. (Note 3)

Note 1. We recommend the following specifications encoder cables.

2. For the CN2L connector, signals of pin 3, pin 4, pin 7, and pin 8 will be as follows.

3. Do not connect anything to the pins shown as

Servo amplifier side Linear encoder side

P5

(Note 2)

6

4

5

37

10

MXR

9

MX

or

(Note 2)

LG

MR MRR34

MX MXR SD

4

Pin 3: MR2 Pin 4: MRR2 Pin 7: MX2 Pin 8: MXR2

adjustment. If it is connected with 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.

8610

MXR

5

MX

Wiring length

to 5 m 1-pair to 10 m 2-pair to 20 m 3-pair to 30 m 4-pair

Number of LG and P5

connections

1 2

7 8

Plate

(Note 1)

Connector: D-SUB

(female) 15 pin

Wire size

AWG 22

. Especially, pin 10 is for manufacturer

4 2

12 10

8

15

5

13

5V 0V

5V/Sensor 0V/Sensor RQ /RQ

SD /SD FG

1 - 30

1. LINEAR ENCODER

)

(c) Encoder cable 3 (two-wire type)

Connector set (optional) MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

2

LG 8

1

P5

View seen from the wiring side. (Note 3

Connector set: 54599-1019 (Molex)

6

THM2

4

MRR

5

THM1

37

MR

10

or

Servo amplifier side Linear encoder side

Plate

SD

P5 LG

9

MR MRR34

THM1 THM256

1 2

(Note 1)

Connector: D-SUB

(female) 15 pin

4 2

12 10

8

15

FG

5V 0V

5V/Sensor 0V/Sensor RQ, SD /RQ, /SD

4

2

MRR

LG

1P5379

MR

View seen from the wiring side. (Note 3

8610

THM2

5

THM1

AWG 24 to 20

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 4-pair

Number of LG and P5

connections

Wire size

AWG 22

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 adjustment. If it is connected with 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

1 - 31

1. LINEAR ENCODER

)

(d) Encoder cable 4 (four-wire type)

Connector set (optional) MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

2

LG 8

1

P5

View seen from the wiring side. (Note 3

Connector set: 54599-1019 (Molex)

2

LG

1P5379

View seen from the wiring side. (Note 3

Note 1. We recommend the following specifications encoder cables.

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

3. Do not connect anything to the pins shown as

Servo amplifier side Linear encoder side

SD

Plate

(Note 1)

6

THM2

4

MRR

5

THM1

37

MR

10

MXR

MX

P5 LG

1 2

9

MR MRR34

or

MX MXR THM1 THM256

4

MRR

MR

Manual".

adjustment. If it is connected with 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.

8610

THM2

MXR

5

THM1

MX

Wiring length

to 5 m 1-pair to 10 m 2-pair to 20 m 3-pair to 30 m 4-pair

Number of LG and P5

connections

7 8

Connector: D-SUB

(female) 15 pin

AWG 24 to 20

Wire size

AWG 22

. Especially, pin 10 is for manufacturer

FG

4

5V

2

0V

12

5V/Sensor

10

0V/Sensor RQ

8

/RQ

15

5

SD

13

/SD

Thermistor of linear servo motor (Note 2)

1 - 32

1. LINEAR ENCODER

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 type. When using this linear encoder, change the parameter to select the four-wire type. For changing parameters, refer to each servo amplifier instruction manual.

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.

(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

5)

MR-J4-_A_

or

MR-J4-_B_

servo amplifier

CN2

MR-J4W_-_B

servo amplifier

Branch cable

CN2A CN2B

(Note 1)

CN2C

Branch cable Encoder cable

When using an optional encoder cable

When fabricating the encoder cable

When not using a branch cable

CN2 4) SCALE

4) MR-J4THCBL03M (Refer to section

2.4.)

5) Connector set

Encoder cable 1

1)

2)

THMor(Note 3)

1) Options manufactured by Heidenhain (Note 2)

630 856-×× _m

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

of this section.)

MR-J3CN2 (Refer to (2) (b)

of this section.)

3)

Thermistor of linear servo motor

Serial interface conversion unit

3)

Thermistor of linear servo motor

3) Junction connector

(Note 2) D-SUB15 pin

(female)

Linear encoder LIDA 483, LIDA 485, LIDA 487, LIDA 489, LIDA 287, LIDA 289, LIF 481, or LIP 581 + EIB 392M

Head cable

Serial interface conversion unit

EIB 392M Cable length: 0.5 m (Heidenhain) (Note 2)

Head cable

Accessories for linear encoder

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

1 - 33

1. LINEAR ENCODER

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

Encoder cable 2

5)

MR-J4-_A_-RJ

or

MR-J4-_B_-RJ

servo amplifier

CN2

CN2L

Branch cable

CN2 4) SCALE

Branch cable Encoder cable

When using an optional encoder cable

When fabricating the encoder cable

When not using a branch cable

4) MR-J4THCBL03M (Refer to section

2.4.)

5) Connector set

Encoder cable 1

1)

2)

THM (Note 2)

1) Options manufactured by Heidenhain

2) Connector set

3)

Thermistor of linear servo motor

Serial interface conversion unit

3)

Thermistor of linear servo motor

(Note 1) 630 856-×× _m

3) Junction MR-J3CN2 (Refer to (2) (a)

of this section.)

MR-J3CN2 (Refer to (2) (b)

of this section.)

connector (Note 1)

D-SUB15 pin (female)

Linear encoder LIDA 483, LIDA 485, LIDA 487, LIDA 489, LIDA 287, LIDA 289, LIF 481, or LIP 581 + EIB 392M

Serial interface conversion unit

EIB 392M Cable length: 0.5 m (Heidenhain) (Note 1)

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.

Head cable

Accessories for linear encoder

Cable length: 3 m

1 - 34

1. LINEAR ENCODER

(b) When using for fully closed loop system 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/

MR-J4-_B_-RJ

servo amplifier

or

MR-J4-DU_A_-RJ/

MR-J4-DU_B_-RJ

drive unit

CN2

CN2L

Encoder of rotary servo motor

Encoder cable 1

1)

Serial interface conversion unit

Linear encoder LIDA 483, LIDA 485, LIDA 487, LIDA 489, LIDA 287, LIDA 289, LIF 481, or LIP 581 + EIB 392M

Head cable

2)

Encoder cable

When using an optional encoder cable

When fabricating the encoder cable

1) Options manufactured by Heidenhain

2) Connector set

3)

(Note) 630 856-×× _m

MR-J3CN2 (Refer to (2) (a)

of this section.)

3) Junction

connector (Note) D-SUB15 pin

(female)

Serial interface conversion unit

EIB 392M Cable length: 0.5 m (Heidenhain) (Note)

Head cable

Accessories for linear encoder

Cable length: 3 m

Note. It should be prepared by the customer.

1 - 35

1. LINEAR ENCODER

(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

Connector set (option) MR-J3CN2 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

MR

MXR

MX

or

8610

MXR

5

MX

10

9

(Note 2)

Servo amplifier side Linear encoder side

P5 LG

MR MRR34

MX MXR SD

Plate

1 2

7 8

(Note 1)

Connector: D-SUB (female) 15-pin

4 2

12 10

8

15

5

13

5V 0V

5V/Sensor 0V/Sensor RQ /RQ

SD /SD FG

View seen from wiring side. (Note 3)

Note 1. We recommend the following specifications encoder cables.

Wiring length Number of LG and P5 connections Cable size

to 5 m 1-pair to 10 m 2-pair to 20 m 3-pair to 30 m 4-pair

AWG 22

2. For the CN2L connector, signals of pin 3, pin 4, pin 7, and pin 8 will be as follows. Pin 3: MR2 Pin 4: MRR2 Pin 7: MX2 Pin 8: MXR2

3. Do not connect anything to the pins shown as adjustment. If it is connected with 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

1 - 36

1. LINEAR ENCODER

(b) Encoder cable 2

Connector set (option) MR-J3CN2 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)

Note 1. We recommend the following specifications encoder cables.

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

3. Do not connect anything to the pins shown as

Servo amplifier side Linear encoder side

4 2

12 10

8

15

5

13

FG

5V 0V

5V/Sensor 0V/Sensor RQ /RQ SD /SD

6

THM2

4

MRR

5

THM1

37

MR

10

MXR

MX

or

SD

Plate

P5 LG

1 2

(Note 1)

9

MR MRR34 MX MXR THM1

7 8

Connector: D-SUB (female) 15-pin

THM256

4

MRR

MR

Manual".

adjustment. If it is connected with 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.

8610

THM2

MXR

5

THM1

MX

Wiring length Number of LG and P5 connections Cable size

to 5 m 1-pair to 10 m 2-pair to 20 m 3-pair to 30 m 4-pair

AWG 24 to 20

AWG 22

. Especially, pin 10 is for manufacturer

Thermistor of linear servo motor (Note 2)

1 - 37

1. LINEAR ENCODER

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 detection system is configured, the absolute position

battery is not required.

1.4.1 SR77/SR87/SR75/SR85

(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

MR-J4-_A_

or

MR-J4-_B_

servo amplifier

CN2

(Note 2) Encoder cable (model: CH33)

Linear encoder SR77, SR87, SR75 or SR85

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. This option is manufactured by Magnescale. It should be prepared by the customer.

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

Branch cable

MR-J4THCBL03M

CN2 SCALE

THM

(Note 3)

Thermistor of linear servo motor

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

Note 1. This option is manufactured by Magnescale. It should be prepared by the customer.

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

Branch cable

MR-J4THCBL03M

CN2 SCALE

THM (Note 2)

Linear encoder SR77, SR87, SR75, or SR85

(Note 1) Encoder cable (model: CH33)

Thermistor of linear servo motor

1 - 38

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

Note. This option is manufactured by Magnescale. It should be prepared by the customer.

Branch cable

MR-J4FCCBL03M

CN2 SCALE

MOTOR

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

(Note) Encoder cable (model: CH33)

Encoder of rotary servo motor

(Note) Encoder cable (model: CH33)

Linear encoder SR77, SR87, SR75 or SR85

Note. This option is manufactured by Magnescale. It should be prepared by the customer.

1 - 39

1. LINEAR ENCODER

1.4.2 SL710 + PL101-RM/RHM (incremental type)

(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

MR-J4W_-_B

servo amplifier

CN2A CN2B

(Note 1)

CN2C

CN2

5)

Encoder cable 1

1)

2) 3)

Branch cable

CN2 4) SCALE

THMor(Note 3)

3)

Thermistor of linear servo motor

Interpolator

MJ832

Thermistor of linear servo motor

Linear encoder

SL710

PL101-RM/RHM

Branch cable Encoder cable Interpolator When using an

optional encoder cable

When fabricating the encoder cable

When not using a branch cable

4) MR-J4THCBL03M (Refer to section

2.4.)

5) Connector set

1) Options manufactured by Magnescale (Note 2) CE33-_

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

section.)

MR-J3CN2 (Refer to (2) (b) of this

section.)

3) Junction connector (Note 2) Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M or equivalent)

Accessories for linear encoder

MJ832

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.

1 - 40

1. LINEAR ENCODER

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

Encoder cable 2

5)

MR-J4-_A_-RJ

or MR-J4-_B_-RJ servo amplifier

CN2

CN2L

Branch cable

CN2 4) SCALE

Branch cable Encoder cable Interpolator When using an

optional encoder cable

When fabricating the encoder cable

When not using a branch cable

4) MR-J4THCBL03M (Refer to section

2.4.)

5) Connector set MR-J3CN2

Encoder cable 1

1)

2) 3)

THM (Note 2)

1) Options manufactured by Magnescale (Note 1) CE33-_

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

section.)

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

3)

Thermistor of linear servo motor

Interpolator

MJ832

Thermistor of linear servo motor

3) Junction connector (Note 1) Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M or equivalent)

Linear encoder

SL710

PL101-RM/RHM

Accessories for linear encoder

MJ832

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.

1 - 41

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

Branch cable

CN2 4) SCALE

Branch cable Encoder cable Interpolator When using an

optional encoder cable

When fabricating the encoder cable

4) MR-J4FCCBL03M (Refer to section

2.5.)

Note. It should be prepared by the customer.

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/

or

MR-J4-DU_B_-RJ

drive unit

MOTOR

Encoder cable 1

1)

2) 3)

Encoder of rotary servo motor

1) Options manufactured by Magnescale (Note) CE33-_

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

section.)

Interpolator

MJ832

3) Junction connector (Note) Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M or equivalent)

Linear encoder

SL710

PL101-RM/RHM

Accessories for linear encoder

MJ832

CN2

CN2L

Encoder cable Interpolator When using an

optional encoder cable

When fabricating the encoder cable

Encoder of rotary servo motor

Encoder cable 1

1)

2) 3)

1) Options manufactured by Magnescale (Note) CE33-_

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

section.)

Interpolator

MJ832

PL101-RM/RHM

3) Junction connector (Note) Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M or equivalent)

Linear encoder

SL710

Accessories for linear encoder

MJ832

Note. It should be prepared by the customer.

1 - 42

1. LINEAR ENCODER

)

(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.

(a) Encoder cable 1

Connector set (option MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) (Note 2)

2

LG 8

15

P5

View seen from wiring side. (Note 3)

Connector set: 54599-1019 (Molex)

6

4

MRR

37

MR

10

or

9

(Note 2)

Servo amplifier side Interpolator side

P5 LG

MR MRR34

Plate

SD

1 2

(Note 1)

1 2

3 4

Plate

5V 0V

SD/RQ

-SD/-RQ

FG

Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M or equivalent)

10

8

9

View seen from wiring side.

7

4

-SD/

-RQ

3

SD/RQ

0 V

5 V

2

1

6

5

2

4

MRR

LG

13 79

MR

P5

View seen from wiring side. (Note 3)

8610

5

Note 1. We recommend the following specifications encoder cables.

Wiring length Number of LG and P5 connections Cable size

to 5 m 1-pair to 10 m 2-pair to 20 m 3-pair to 30 m 4-pair

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

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

AWG 22

1 - 43

1. LINEAR ENCODER

(b) Encoder cable 2

Connector set (option) MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

2

LG 8

15

P5

View seen from wiring side. (Note 3)

Connector set: 54599-1019 (Molex)

2

LG

13 79

P5

View seen from wiring side. (Note 3)

6

THM2

4

MRR

THM1

37

MR

4

MRR

THM2

5

THM1

MR

10

or

8610

9

Note 1. We recommend the following specifications encoder cables.

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.

Servo amplifier side Interpolator side

Plate

1 2

3 4

FG

5V 0V

SD/RQ

-SD/-RQ

SD Plate

P5 LG

1 2

MR MRR34

(Note 1)

THM1 THM256

Thermistor of linear servo

AWG 24 to 20

motor (Note 2)

Wiring length Number of LG and P5 connections Cable size

to 5 m 1-pair to 10 m 2-pair to 20 m 3-pair to 30 m 4-pair

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

Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M or equivalent)

View seen from wiring side.

AWG 22

10

-SD/

-RQ

SD/RQ

2

0 V

4

1

5 V

3

6

8

9

5

7

1 - 44

1. LINEAR ENCODER

1.5 Linear encoder RESOLUTE RL40M (absolute position type) manufactured by Renishaw

POINT

When the absolute position detection system is configured, the absolute position

battery is not required.

(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

2)

Thermistor of linear servo motor

Linear encoder RESOLUTE RL40M

2)

Output cable

Accessories for linear encoder

Cable length: 0.5 m

Branch cable Encoder cable (Note 2) Output cable

When using a branch cable

When not using a branch cable

MR-J4-_A_

or

MR-J4-_B_

servo amplifier

CN2

MR-J4W_-_B

servo amplifier

CN2A CN2B

(Note 1)

CN2C

3) MR-J4THCBL03M (Refer to section

2.4.)

4) Connector set MR-J3CN2

4)

Branch cable

CN2 3) SCALE

THMor(Note 4)

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

section.)

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

Encoder cable 1

1)

Thermistor of linear servo motor

2) Junction connector (Note 3) D-SUB15 pin (female)

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. Produce an encoder cable. An optional cable is not provided.

3. It should be prepared by the customer.

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

1 - 45

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 Encoder cable (Note 1) Output cable When using a

branch cable

When not using a branch cable

3) MR-J4THCBL03M (Refer to section

2.4.)

4) Connector set MR-J3CN2

4)

Branch cable

CN2 3) SCALE

THM (Note 3)

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

section.)

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

Encoder cable 1

1)

Thermistor of linear servo motor

2) Junction connector (Note 2) D-SUB15 pin (female)

2)

Thermistor of linear servo motor

Linear encoder RESOLUTE RL40M

2)

Output cable

Accessories for linear encoder

Cable length: 0.5 m

Note 1. Produce an encoder cable. An optional cable is not provided.

2. It should be prepared by the customer.

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

1 - 46

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

Linear encoder RESOLUTE RL40M

or

MR-J4W2-_B

servo amplifier

CN2A CN2B

Branch cable Encoder cable (Note 1) Output cable

3) MR-J4FCCBL03M (Refer to section

2.5.)

Branch cable

CN2 3) SCALE

MOTOR

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

section.)

1)

Thermistor of linear servo motor

2) Junction connector (Note 2) D-SUB15 pin (female)

2)

Output cable

Accessories for linear encoder

Cable length: 0.5 m

Note 1. Produce an encoder cable. An optional cable is not provided.

2. It should be prepared by the customer.

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/

or

MR-J4-DU_B_-RJ

drive unit

CN2

CN2L

Encoder of rotary servo motor

Linear encoder RESOLUTE RL40M

Output cable1)

Accessories for linear encoder

Cable length: 0.5 m

Encoder cable 1

Encoder cable (Note 1) Output cable

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

section.)

2)

2) Junction connector (Note 2) D-SUB15 pin (female)

Note 1. Produce an encoder cable. An optional cable is not provided.

2. It should be prepared by the customer.

1 - 47

1. LINEAR ENCODER

(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

Connector set (option) MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) (Note 2)

Servo amplifier side Linear encoder side

(Note 1)

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

4

MRR

5

37

MR

4

MRR

MR

10

9

or

8610

5

(Note 2)

P5 LG MR MRR34

Plate

SD

8

1 2

Connector: D-SUB (female) 15-pin

P5

2LG

10

MR

1 MRR

Case

SD

Note 1. We recommend the following specifications encoder cables.

Wiring length

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

Number of LG and P5 connections

(when the output cable is 0.5 m or less)

Cable size

AWG 22

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 adjustment. If it is connected with 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

1 - 48

1. LINEAR ENCODER

T

(b) Encoder cable 2

Connector set (option) MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

Servo amplifier side

SD Plate SD

(Note 1)

Linear encoder side

Case

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

MRR

THM2

5

THM1

MR

10

or

8610

P5 LG

9

MR MRR34

HM1 HM256

1 2

Connector: D-SUB (female) 15-pin

AWG 24 to 20

8

P5

2LG

10

MR

1 MRR

Thermistor of linear servo motor (Note 2)

Note 1. We recommend the following specifications encoder cables.

Wiring length

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

Number of LG and P5 connections

(when the output cable is 0.5 m or less)

Cable size

AWG 22

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 adjustment. If it is connected with 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

1 - 49

1. LINEAR ENCODER

1.6 Linear encoder PSLH041 manufactured by NIDEC SANKYO (Incremental type)

(1) Cable structure

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

or

MR-J4W_-_B

servo amplifier

CN2A CN2B

CN2C

(Note 1)

branch cable Encoder cable (Note 2) Output cable When using a

branch cable

When not using a branch cable

3) MR-J4THCBL03M (Refer to section

2.4.)

4) Connector set MR-J3CN2

4)

Branch cable

CN2 3) SCALE

THM (Note 4)

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

section.)

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

Encoder cable 1

1)

Thermistor of linear servo motor

2) Junction connector (Note 3) D-SUB15 pin (female)

2)

Thermistor of linear servo motor

Linear encoder PSLH041

2)

Output cable

Accessories for linear encoder

Cable length: 0.4 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. Produce an encoder cable. An optional cable is not provided.

3. It should be prepared by the customer.

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

1 - 50

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 Encoder cable (Note 1) Output cable When using a

branch cable

When not using a branch cable

3) MR-J4THCBL03M (Refer to section

2.4.)

4) Connector set MR-J3CN2

4)

Branch cable

CN2 3) SCALE

THM (Note 3)

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

section.)

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

Encoder cable 1

1)

Thermistor of linear servo motor

2) Junction connector (Note 2) D-SUB15 pin (female)

2)

Thermistor of linear servo motor

Linear encoder PSLH041

2)

Output cable

Accessories for linear encoder

Cable length: 0.4 m

Note 1. Produce an encoder cable. An optional cable is not provided.

2. It should be prepared by the customer.

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

(b) When using for 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

Linear encoder PSLH041

or

MR-J4W2_-_B servo amplifier

CN2A CN2B

branch cable Encoder cable (Note 1) Output cable

3) MR-J4FCCBL03M (Refer to section

2.5.)

Branch cable

CN2 3) SCALE

MOTOR

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

section.)

1)

Encoder of rotary servo motor

2) Junction connector (Note 2) D-SUB15 pin (female)

2)

Output cable

Accessories for linear encoder

Cable length: 0.4 m

Note 1. Produce an encoder cable. An optional cable is not provided.

2. It should be prepared by the customer.

1 - 51

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/

or

MR-J4-DU_B_-RJ

drive unit

CN2

CN2L

Encoder of rotary servo motor

Linear encoder PSLH041

1)

Encoder cable 1

Encoder cable (Note 1) Output cable

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

section.)

2)

2) Junction connector (Note 2) D-SUB15 pin (female)

Output cable

Accessories for linear encoder

Cable length: 0.4 m

Note 1. Produce an encoder cable. An optional cable is not provided.

2. It should be prepared by the customer.

1 - 52

1. LINEAR ENCODER

e

(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

Connector set (optional) MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

2

LG 8

1

P5

View seen from the wiring side.(Note 3)

Connector set: 54599-1019 (Molex)

6

4

MRR

5

37

MR

or

(Note 2)

10

9

(Note 2)

Servo amplifier sid

P5 LG MR MRR34 SD

1 2

Plate

Linear encoder sid

3

VCC 1 GND 7

RQ / DT 8 /RQ / /DT

Plate

SD

Connector: D-SUB 15 pin (female)

2

4

MRR

LG

1P5379

MR

View seen from the wiring side.(Note 3)

8610

5

Note 1. We recommend the following specifications encoder cables.

Number of LG and P5

Wiring length

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

(when the output cable is 0.5 m

connections

or less)

Wire size

AWG 22

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 connected with 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

1 - 53

1. LINEAR ENCODER

(b) Encoder cable 2

Connector set (optional) MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

Servo amplifier side Linear encoder side

Plate Plate

SDSD

2

LG 8

1

P5

View seen from the wiring side. (Note 3)

Connector set: 54599-1019 (Molex)

2

LG

1P5379

View seen from the wiring side. (Note 3)

6

THM2

4

MRR

5

THM1

37

MR

or

4

MRR

THM2

THM1

MR

10

9

8610

5

P5 LG MR MRR34 THM1 THM2 6

1 2

5

AWG 24 to 20

3

VCC 1 GND 7

RQ / DT 8 /RQ / /DT

Connector: D-SUB 15 pin (female)

Thermistor of linear servo motor (Note 2)

Note 1. We recommend the following specifications encoder cables.

Number of LG and P5

Wiring length

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

(when the output cable is 0.5 m

connections

or less)

Wire size

AWG 22

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 connected with 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

1 - 54

1. LINEAR ENCODER

1.7 A/B/Z-phase differential output linear encoder

POINT

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.

This section explains the connection of the A/B/Z-phase differential output linear encoder. Prepare the MRJ3CN2 connector set for the encoder cable and fabricate it according to the wiring diagram in (3) of this section.

(1) A/B/Z-phase differential output linear encoder specifications

Each signal of the A, B, and Z-phase of the linear encoder is provided in the differential line driver output. It cannot be provided in the collector output. The phase differences of the A-phase and B-phase pulses and the pulse width of the Z-phase pulse need to be 200 ns or more. The output pulse of A-phase and B-phase of the A/B/Z-phase differential output linear encoder is in the multiply-by-four count method. The linear encoder without Z-phase cannot make a home position return. The tolerable resolution range is between 0.001 µm and 5 µm. Please select a linear encoder within the range.

Linear encoder

LA, LB, LZ

Am26LS31 or

equivalent

LAR, LBR, LZR

LA

LAR

LB

LBR

LZ

LZR

Phase difference: 200 ns or more

1 pulse of Z-phase = 200 ns or more

(2) Connection of servo amplifier and A/B/Z-phase differential output linear encoder

Servo amplifier

CN2

CN2L

Thermistor of linear servo motor

Connector set MR-J3CN2 (option)

A/B/Z-phase differential output linear encoder

1 - 55

1. LINEAR ENCODER

t

(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 specifications of linear encoder. A connection example is shown below. Contact each linear encoder manufacturer for details.

1) When the consumption current of the linear encoder is 350 mA or less

Servo amplifier-

side connector

P5 LG PA PAR PB PBR PZ PZR78

PSEL SD

1 2 3 4 5 6

9

10

Plate

(Note 3)

(Note 2)

A/B/Z-phase differential outpu

linear encoder

30 m or less

5V 0V A-phase A-phase B-phase B-phase Z-phase Z-phase

Shield

(Note 1)

Note 1. For the encoder without Z-phase, set [Pr. PC27] to "_ 1 _ _".

2. Securely connect a shielded wire to the plate (ground plate) in the connector.

3. We recommend the following specifications encoder cables for the linear encoder which consumption current is 350 mA. When the consumption current of the encoder is less than 350 mA, the paired connections can be decreased.

Wiring length

to 5 m 2-pair to 10 m 3-pair to 20 m 6-pair to 30 m 8-pair

Number of LG and P5

connections

Cable size

AWG 22

1 - 56

1. LINEAR ENCODER

y

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 power, turn off the servo amplifier and then turn off the linear encoder.

External 5 V DC power suppl

Servo amplifier-

side connector

P5 LG PA PAR PB PBR PZ PZR78

PSEL SD Plate

Note 1. For the encoder without Z-phase, set [Pr. PC27] to "_ 1 _ _".

2. Securely connect a shielded wire to the plate (ground plate) in the connector.

1 2 3 4 5 6

9

10

A/B/Z-phase differential output

linear encoder

(Note 2)

30 m or less

5V 0V A-phase A-phase B-phase B-phase Z-phase Z-phase

Shield

(Note 1)

1 - 57

1. LINEAR ENCODER

MEMO

1 - 58

2. OPTION CABLE/CONNECTOR SETS

V

2. OPTION CABLE/CONNECTOR SETS

2.1 MR-EKCBL_M-H encoder cable

(1) Model explanations

Model:

(2) Cable structure

The table shows this optional cable structure.

IP rating Bending life

IP20 Long bending life 2/5 0.2

Length

[m]

Note 1. d is as shown below.

Core

size

[mm

2

]

Number of cores

12

(6 pairs)

Characteristics of one core

Structure

[Wires/mm]

40/0.08 105 or less 0.88 7.2

Symbol

2 5

Conductor resistance

[Ω/km]

Long bending life

Cable length [m]

2 5

(Note 1)

Insulation

coating

OD d [mm]

(Note 2)

Cable OD

[mm]

Wire model

(manufacturer)

(Note 3) A14B2339 6P

(Junkosha)

2. Standard OD. Maximum OD is about 10% greater.

3. Purchase from Toa Electric Industry

1)

Cable model 1) SCALE-side connector of branch cable 2) Junction connector

MR-EKCBL_M-H Receptacle: 36210-0100PL

Shell kit: 36310-3200-008 (3M)

2

LG

15

P5

View seen from wiring side. (Note)

6

4

MRR

37

MR

10

8

9

Connector set: 54599-1019 (Molex)

42 86 10

MRR

LG

or

1 3

MR

P5

View seen from wiring side. (Note)

7 9

5

2)

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

123

RQ

/RQ

456

789

P5

LG FG

Note. Keep open the pins shown with . Especially, pin 10 is provided for

manufacturer adjustment. If it is connected with 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.

iew seen from wiring side.

2 - 1

2. OPTION CABLE/CONNECTOR SETS

t

(3) Internal wiring diagram

Servo amplifier side Linear encoder side

P5 LG

MR MRR34

1 2

7

P5 LG

8

RQ

1

/RQ

2

3

FG

9

SD

9

Plate

2.2 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 of branch cable Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) or Connector set: 54599-1019 (Molex)

2.3 MR-J3CN2 connector set

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

The following shows the details of this connector set.

Connector se MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M or equivalent)

2

15

View seen from wiring side.

6

4

37

8

2 - 2

10

Connector set: 54599-1019 (Molex)

42 86 10

9

or

1 3 7 9

View seen from wiring side.

5

2. OPTION CABLE/CONNECTOR SETS

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 using MR-J3THMCN2 connector set, refer to App. 1.

0.3 m

(Note 1) (Note 2)

CN2 SCALE

Plate

SD P5 LG LG2

1 2

Plate

1

SD P5

2

LG

1

P5

4

MRR

3

MR

THM2

THM1

6

5

10

SEL SEL

8

MXR

7

MX

9

BAT

MR MRR

3 4

MR

3

MRR

4

5THM1

THM2 6

View seen from wiring side. (Note 5)

MX MXR 8 BAT SEL910

7

7MX 8 MXR 9 BAT

10 SEL

View seen from wiring side. (Note 5)

(Note 4)

(Note 2, 3)

THM

Plate

SD

THM1

5

THM2

6

View seen from wiring side. (Note 5)

Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M)

2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)

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

4. When fabricating the cable, you do not need to wire these signals for the manufacturer.

5. Do not connect anything to the pins shown as

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

10

BAT

10

4

MRR

3

MR

2

LG

1

P5

6

8

MXR

9

5

7

MX

6

THM2

8

9

THM1

2

4

15

37

2 - 3

2. OPTION CABLE/CONNECTOR SETS

A

2.5 MR-J4FCCBL03M branch cable

This branch cable is for connecting the encoder of rotary servo motor and the load-side encoder to CN2 connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to App. 2.

0.3 m

(Note 1) (Note 2)

CN2 MOTOR

Plate

SD P5 LG LG2

1 2

Plate

1

SD P5

LG

P5

4

MRR

3

THM2

THM1

6

5

2

1

MR

8

MXR

7

MX

10

SEL

9

BAT

MR MRR

3 4 5THM1 5 THM1

THM2 6

View seen from wiring side. (Note 5)

MX

7 MXR 8 BAT SEL910

(Note 4)

10 SEL

(Note 2)

SCALE

Plate

10

(Note 4)

Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M)

2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)

3. Connect MX to MR of the linear encoder cable, and MXR to MRR of the cable.

4.

lways make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental

system.

5. Do not connect anything to the pins shown as

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

MR

3

MRR

4

6 THM2

9 BAT

SD

P5

1

LG

2

3MX

(Note 3)

4 MXR

BAT9 SEL

10

SEL

9

BAT

6

THM2

8

5

THM1

7

4

MRR

3

2

LG

1

P5

MR

View seen from wiring side. (Note 5)

10

SEL

9

BAT

6

8

4

MXR

37

LG

P5

2

15

MX

View seen from wiring side. (Note 5)

2 - 4

3. DETAILED EXPLANATION OF [AL. 2A LINEAR ENCODER ERROR 1]

If the cause of [AL. 2A Linear encoder error 1] occurrence is not identified, confirm the alarm display details of MR Configurator2, and contact each manufacturer.

Table 3.1 Detailed explanation of [AL. 2A Linear encoder error 1] for each manufacturer

Detail

Alarm

inform

No.

ation

No.

AT343A/AT54_A ST74_A SR_7 SR_5/SL710 RESOLUTE PSLH041

2A.1 01 Initialization error Overspeed error Laser diode error Initialization error Initial error EEPROM error

2A.2 02

2A.3 03

2A.4 04 Capacitive error

2A.5 05 CPU error Transducer error CPU error Amplitude error

2A.6 06 EEPROM error

2A.7 07 ROM/RAM error

2A.8 08

Photoelectric capacitive data mismatch

Photoelectric error

Optical overspeed

Mitutoyo Magnescale

Initialization error

Hardware error

ABS detection error

Signal strength error

Signal strength alarm

Thermal alarm Speed error Overspeed error Overspeed

As an example, the following describes the detailed information when [AL. 2A Linear encoder error 1] occurs in the linear encoder AT343A manufactured by Mitutoyo.

[AL. 2A Linear encoder error 1] details

Heidenhain

Encoder mismatch error

Incremental signal error

Absolute signal error

System memory error

Encoder warning

INC data error Speed error

ABS data error

Encoder alarm EEPROM error Thermal alarm

Scale level error INC/ABS data

mismatch error

Renishaw

Absolute signal error

NIDEC

SANKYO

Temperature error

Offset error

3 - 1

3. DETAILED EXPLANATION OF [AL. 2A LINEAR ENCODER ERROR 1]

MEMO

3 - 2

APPENDIX

App. 1 Production of branch cable for linear servo motor

Produce the branch cable using MR-J3THMCN2 connector set as shown in the connection diagram in section 2.4. The branch cable length should be 0.3 m or less.

MR-J3THMCN2 connector set

Parts Description

Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) or connector set: 54599-1019 (Molex)

Cable ETFE-SVP 40/0.08mm (AWG#24 or equivalent)×6P (Toa Electric Industry Co. Ltd., Nagoya Branch)

VSVC 7/0.18mm × 2C (AWG#26 or equivalent) (Toa Electric Industry Co. Ltd., Nagoya Branch)

Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M)

App. 2 Production of branch cable for fully closed loop control system

Produce the branch cable using MR-J3THMCN2 connector set as shown in the connection diagram in section 2.5. The branch cable length should be 0.3 m or less.

Parts Description

MR-J3THMCN2 connector set

Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) or connector set: 54599-1019 (Molex)

Cable ETFE-SVP 40/0.08mm (AWG#24 or equivalent)×6P (Toa Electric Industry Co. Ltd., Nagoya Branch)

VSVP 7/0.16(AWG#26 or equivalent)-4P (Toa Electric Industry Co. Ltd., Nagoya Branch)

Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M)

App. 3 Manufacturer list

Names given in the table are as of September 2014.

Manufacturer Contact 3M 3M TE Connectivity TE Connectivity Toa Electric Industry Toa Electric Industry Co., Ltd. Heidenhain Heidenhain Hirose Electric Hirose Electric Co., Ltd. Magnescale Magnescale Co., Ltd. Mitutoyo Mitutoyo Corporation Molex Molex Renishaw Renishaw NIDEC SANKYO NIDEC SANKYO CORPORATION

App. - 1

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 1.2.2 (2) (b) Section 1.2.3 (1) Section 1.2.3 (2) (b) Section 1.3.1 (1) Section 1.3.1 (2) (b) Section 1.3.2 (1) Section 1.3.2 (2) (b) Section 1.4.1 (1) (a) Section 1.4.2 (1) Section 1.4.2 (2) (b) Section 1.5.1 (1) Section 1.5.1 (2) (b) Section 1.5.2 (1) Section 1.5.2 (2) (b) Section 2.4

Feb. 2013 SH(NA)030111-C Chapter 1

Section 1.1 Section 1.2.1 (1) Section 1.2.1 (2) Section 1.2.2 (1) Section 1.2.2 (2) Section 1.2.3 (1) Section 1.2.3 (2) Section 1.3.1 (1) Section 1.3.1 (2) Section 1.3.2 (1) Section 1.3.2 (2) Section 1.4.1 (1) Section 1.4.2 (1) Section 1.4.2 (2) Section 1.5.1 (1) Section 1.5.1 (2) Section 1.5.2 (1) Section 1.5.2 (2) Section 1.6

Aug. 2013 SH(NA)030111-D Section 1.1 (1) (2)

Section 1.2.1 (1) (a) 2) Section 1.2.2 (1) (a) 2) Section 1.2.3 (1) (a) 2) Section 1.3.1 (1) (b) Section 1.3.2 (1) (b) Section 1.4.1 (1) (a) 2) Section 1.4.2 (1) (a) 2) Section 1.5.1 (1) (a) 2) Section 1.5.2 (1) (a) 2) Section 1.6 (2)

POINT is changed. Drawing and table are changed. Added. Drawing and table are changed. Added. Drawing and table are changed. Added. Drawing and table are changed. Added. Drawing and table are changed. Added. CAUTION is added. Drawing and table are changed. Added. Drawing and table are changed. Added. Drawing and table are changed. Added. CAUTION is added. POINT is changed. Table is changed, (1) and (2) are added. MR-J4-A is added to 1) of (a) and (b). 2) is added. The titles of (a) and (b) are changed. Note is added to (a). MR-J4-A is added to 1) of (a) and (b). 2) is added. The titles of (a) and (b) are changed. Note is added to (a). MR-J4-A is added to 1) of (a) and (b). 2) is added. The titles of (a) and (b) are changed. Note is added to (a). MR-J4-A is added to 1) of (a) and (b). 2) is added. The titles of (a) and (b) are changed. Note is added to (a). MR-J4-A is added to 1) of (a) and (b). 2) is added. The titles of (a) and (b) are changed. Note is added to (a). MR-J4-A is added to 1) of (a) and (b). 2) is added. MR-J4-A is added to 1) of (a) and (b). 2) is added. The titles of (a) and (b) are changed. Note is added to (a). MR-J4-A is added to 1) of (a) and (b). 2) is added. The titles of (a) and (b) are changed. Note is added to (a). MR-J4-A is added to 1) of (a) and (b). 2) is added. The titles of (a) and (b) are changed. Note is added to (a). Added. The table is changed. The illustration is changed. The illustration is changed. The illustration is changed. The illustration is changed. The illustration is changed. The illustration is changed. The illustration is changed. The illustration is changed. The illustration is changed. The illustration is changed.

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 1.3.2 (2) Section 1.3.3 (2) Section 1.4.2 (2) Section 1.5 (2) Section 1.6 Section 2.1 (2) Section 2.4 Section 2.5 Chapter 3 App. 3

POINT is added. Note is added. Note is added. Note is added. Note is added. Note is added. Note is added. Note is added. Note is added. Added. Note is partially changed. Note is added. Note is added. The table is partially changed. Partially added.

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.

2012 MITSUBISHI ELECTRIC CORPORATION



A

Country/Region Sales office Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC.

Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch

Brazil MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS LTDA.

Germany MITSUBISHI ELECTRIC EUROPE B.V. German Branch

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Italy MITSUBISHI ELECTRIC EUROPE B.V. Italian Branch

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Sweden MITSUBISHI ELECTRIC EUROPE B.V. (Scandinavia)

Turkey MITSUBISHI ELECTRIC TURKEY A.Ş Ümraniye Branch

UAE MITSUBISHI ELECTRIC EUROPE B.V. Dubai Branch

South Africa

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Indonesia PT. MITSUBISHI ELECTRIC INDONESIA

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India MITSUBISHI ELECTRIC INDIA PVT. LTD. Pune Branch

ustralia MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD.

500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.

Mariano Escobedo #69, Col. Zona Industrial, Tlalnepantla Edo, C.P.54030, Mexico

Rua Jussara, 1750- Bloco B Anexo, Jardim Santa Cecilia, CEP 06465-070, Barueri SP, Brasil

Gothaer Strasse 8, D-40880 Ratingen, Germany

Travellers Lane, Hatfield, Hertfordshire, AL10 8XB, U.K.

Centro Direzionale Colleoni - Palazzo Sirio Viale Colleoni 7, 20864 Agrate Brianza (Milano) Italy

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venir Business Park, Radlicka 751/113e, 158 00 Praha5, Czech Republic

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Fjelievägen 8, SE-22736 Lund, Sweden

Şerifali Mahallesi Nutuk Sokak No:5, TR-34775 Ümraniye, İstanbul, Türkey

Dubai Silicon Oasis, P.O.BOX 341241, Dubai, U.A.E.

DROIT TECHNOLOGIES

20 Waterford Office Park, 189 Witkoppen Road, Fourways, Johannesburg, South

frica

No.1386 Hongqiao Road, Mitsubishi Electric Automation Center, Shanghai, China

6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan, R.O.C.

7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 157-801, Korea

307, Alexandra Road, Mitsubishi Electric Building, Singapore 159943

12th Floor, SV.City Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road, Kwaeng Bangpongpang, Khet Yannawa, Bangkok 10120, Thailand

Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia

Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1, Ho Chi Minh City, Vietnam

Emerald House, EL -3, J Block, M.I.D.C Bhosari, Pune - 411026, Maharashtra, India

348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, AustraliaTel/

Tel Fax

: +1-847-478-2100 : +1-847-478-2253

: +52-55-3067-7500 : –

: +55-11-4689-3000 : +55-11-4689-3016

: +49-2102-486-0 : +49-2102-486-1120

: +44-1707-28-8780 : +44-1707-27-8695

: +39-039-60531 : +39-039-6053-312

: +34-935-65-3131 : +34-935-89-1579

: +33-1-55-68-55-68 : +33-1-55-68-57-57

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: +66-2682-6522 to 6531 : +66-2682-6020

: +62-21-3192-6461 : +62-21-3192-3942

: +84-8-3910-5945 : +84-8-3910-5947

: +91-20-2710-2000 : +91-20-2710-2100

: +61-2-9684-7777 : +61-2-9684-7245

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.

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 "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.

[Term]

The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.

[Limitations]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.

It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and

conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;

(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware

or software problem (ii) a failure caused by any alteration, etc. to the Product made on your side without our approval (iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety

device required by applicable laws and has any function or structure considered to be indispensable according to a common

sense in the industry (iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly

maintained and replaced (v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.) (vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of

voltage, and acts of God, including without limitation earthquake, lightning and natural disasters (vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of

the Product from our company (viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The

announcement of the stop of production for each model can be seen in our Sales and Service, etc.

(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

4. Exclusion of responsibility for compensation against loss of opportunity, secondary loss, etc.

Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of local machines and the Product and any other operations conducted by you.

5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

6. Application and use of the Product

(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any

failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs.

(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. 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.

SH(NA)030111-F

MODEL

LINEAR ENCODER INSTRUCTIONMANUAL

MODEL CODE

This Instruction Manual uses recycled paper. SH (NA) 030111-F (1409) MEE Printed in Japan Specifications are subject to change without notice.

1CW947

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

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

1.3 Linear encoder manufactured by Heidenhain

1.3.1 LC 493M/LC 193M (absolute type)

1.3.2 LIC 4193M/LIC 4195M/LIC 4197M/LIC 4199M (absolute type)

1.3.3 LIDA 483, LIDA 485, LIDA 487, LIDA 489, LIDA 287, LIDA 289, LIF 481, or LIP 581 + EIB 392M (incremental type)

1.4 Linear encoder manufactured by Magnescale

1.4.1 SR77/SR87/SR75/SR85

1.4.2 SL710 + PL101-RM/RHM (incremental type)

1.5 Linear encoder RESOLUTE RL40M (absolute position type) manufactured by Renishaw

1.6 Linear encoder PSLH041 manufactured by NIDEC SANKYO (Incremental type)

1.7 A/B/Z-phase differential output linear encoder

2. OPTION CABLE/CONNECTOR SETS

2.1 MR-EKCBL_M-H encoder cable

2.2 MR-ECNM connector set

2.3 MR-J3CN2 connector set

2.4 MR-J4THCBL03M branch cable

2.5 MR-J4FCCBL03M branch cable

3. DETAILED EXPLANATION OF [AL. 2A LINEAR ENCODER ERROR 1]

APPENDIX

App. 1 Production of branch cable for linear servo motor

App. 2 Production of branch cable for fully closed loop control system

App. 3 Manufacturer list

REVISIONS

Warranty