Mitsubishi Electric MELSERVO-J4, MR-ENCOM Specifications

MITSUBISHI ELECTRI

C

C

MELSERVO-J4 series

Encoder converter

Specification Manual

Art. no. 275742
24 06 2014
Version A

MR-ENCOM

MITSUBISHI ELECTRI

INDUSTRIAL AUTOMATION

Version check

Contents

Contents

1Introduction

1.1 Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

1.2 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

1.3 Product names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

2 Standard specifications

2.1 Specification table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.2 Recommended encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

2.2.1 Hiperface DSL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

2.2.2 Endat 2.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

2.3 Dimensions [mm] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

2.4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3

2.4.1 Installation direction and clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3

2.4.2 Keep out foreign materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3

2.4.3 Cable stress . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3

2.5 Signals and wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.5.1 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4

2.5.2 Connectors and pin assignment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4

2.5.3 Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5

3Operation

3.1 Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

Mitsubishi Electric Europe B.V. Dec. 2013 I

Contents

II

Summary Introduction

U
V
W

CN2CN2

Power conversion

CN1

MR-ENCOMCBL03M

Mitsubishi serial
communication

MR-ENCOM

Endat 2.2 or
Hiperface DSL

Data conversion

MR-J4-첸-RJJ001

Servo Motor

1 Introduction

1.1 Summary

MR-ENCOM is a converter from Endat2.2/Hiperface DSL to Mitsubishi Electric serial encoder commu­nication, which is compatible to both Endat2.2 and Hiperface DSL, by changing an external wiring.

Although Mitsubishi Electric MELSERVO-J4 series have compatible rotary/linear servo motors also
made by Mitsubishi Electric, by using MR-ENCOM, other suppliers’ rotary/linear servo motors can be
driven by MELSERVO-J4.

Mitsubishi Electric MELSERVO-J4 series that has industry leading function and performance such as
response, tuning, filters, and maintenance can drive any other manufacturers servo motors with En­dat 2.2 or Hiperface DSL (*).

* Please contact Mitsubishi Electric Europe to check if servo motor and encoder are supported..

1.2 Function block diagram

The below diagram shows the MR-ENCOM in combination with a servo amplifier and servo motor. For
more details about amplifiers and motors please refer to the MR-J4 users manual.

1.3 Product names

No. Product name Description

1

MR-ENCOMSET

2 MR-ENCOMCBL03M Cable between MR-ENCOM and MR-J4-첸-RJJ001

3 * Cable between MR-ENCOM and servo motor

MR-ENCOM Endat2.2/Hiperface DSL Encoder converter

Mitsubishi Electric Europe B.V. Dec. 2013 1 – 1

* The cable should be prepared by the user.

Introduction Product names

1 – 2

Specification table Standard specifications

2 Standard specifications

2.1 Specification table

Communication

Absolut /Incremental Both

Rotary/Linear Both

Resolution 10–40 bit

Rated output voltage 10 ±0,3 V (at CN1 connector)

Max. continuous output current 200 mA

IP ratings IP30

Ambient temperature 0° – +55°C, non-freezing

Storage temperature -20° – +70°C, non-freezing

Humidity 90 % rel. humidity, no condensation

Ambience

Altitude 3000 m or less above sea level

Mass 250 g

Endat2.1 (without analog signals and sense signal), Endat 2.2 (without
safety function), Hiperface DSL (without safety function)

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or
dust

2.2 Recommended encoder

2.2.1 Hiperface DSL

● Only 2 wire connection (DSL+/-) type is possible to communicate to MR-ENCOM.

● Both single turn and multi turn encoders are compatible.

● Safety function is not compatible.

2.2.2 Endat 2.2

● Endat2.2 or Endat2.1

● 6 MHz clock frequency should be compatible.

● Incremental signal 1 Vpp of the Endat communication is not possible to connect to MR-ENCOM.

Use encoder without incremental signal.

● Both single turn and multi turn encoders are compatible.

● Safety function is not compatible.

● 10 V DC power supply is compatible. In case of an encoder which has only 5 V DC, use "+5 V OUT"

for the power supply instead of "+10 V OUT".

Mitsubishi Electric Europe B.V. Dec. 2013 2 – 1

Standard specifications Dimensions [mm]

CN2

CN1

2.3 Dimensions [mm]

Fig. 2-1: Dimensions of the MR-ENCOM

2 – 2

Installation Standard specifications

 









10 mm or more

200 mm or more

152 mm

10 mm

or
more

10 mm or more

10 mm or more

2.4 Installation

2.4.1 Installation direction and clearances

NOTE Keep 10 mm distance from other components and cabinet.

Fig. 2-2: Installation of the MR-ENCOM

2.4.2 Keep out foreign materials

● When drilling in the cabinet, prevent drill chips and wire fragments from entering the servo
amplifier.

● Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the
cabinet or a cooling fan installed on the ceiling.

● When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge
(force clean air into the cabinet from outside to make the internal pressure higher than the
external pressure) to prevent such materials from entering the cabinet.

2.4.3 Cable stress

● The way of clamping the cable must be fully examined so that bending stress and cable's own
weight stress are not applied to the cable connection.

● For use in any application where the servo motor moves, fix the cables (encoder, power supply, and
brake) with having some slack from the connector connection part of the servo motor to avoid
putting stress on the connector connection part. Use the optional encoder cable within the bending
life range. Use the power supply and brake wiring cables within the bending life of the cables.

● Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine
corner or stamped by workers or vehicles.

● For installation on a machine where the servo motor moves, the bending radius should be made
as large as possible. Refer to section 10.4 for the bending life.

Mitsubishi Electric Europe B.V. Dec. 2013 2 – 3

Standard specifications Signals and wiring

Yel low LED

Green LED

Red LED 1

Red LED 2

54321

9876

2.5 Signals and wiring

2.5.1 LEDs

LED

Red LED 1 CPU error CPU malfunction

Red LED 2 Communication error Communication is not well

Yellow LED Hiperface setting CN1 wiring is Hiperface setting

Green LED Endat setting CN1 wiring is Endat setting

ON status Description

2.5.2 Connectors and pin assignment

● CN1 (male: to encoder)

Direction looking at product

Pin No.

1— +10 V OUT

2DSL+ —

3— DATA+

4— CLOCK+

5— GND

6— SELECT_Endat

7DSL- —

8— DATA-

9— CLOCK-

Signal

Hiperface DSL Endat 2.2

2 – 4

* In case of Endat 2.2 connect the pin No. 6 “SELECT_Endat” to pin No. 5 “GND”. Otherwise MR-ENCOM recognize as Hiper-

face DSL communication. See cable wiring diagram for example.

Signals and wiring Standard specifications

54321

9876

2

7

SHD

DSL+

DSL-

SHIELD

DSL+

DSL-

SD

MR-ENCOM CN1

Hiperface DSL encoder

1
5
3
8
4
9

6

SHD

+10 V OUT

GND

DATA+

DATA-

CLOCK+

CLOCK-

SELECT

SD

PWR+
PWR­DATA+
DATA­CLOCK+
CLOCK-

SHIELD

MR-ENCOM CN1

Endat2.2 encoder

● CN2 (female: to MELSERVO J4)

Direction looking at product

2.5.3 Cables

● Between MR-ENCOM CN1 and Hiperface DSL encoder

Pin No.

1P5

2P5

3MR

4—

5—

6LG

7LG

8MRR

9—

Signal

Mitsubishi Electric Europe B.V. Dec. 2013 2 – 5

● Between MR-ENCOM CN1 and Endat 2.2/2.1 encoder

Standard specifications Signals and wiring

P5

LG

MR

MRR

SD

1

2

3

4

Plate

P5

LG

MR

MRR

SHIELD

1

6

7

3

8

MR-J4-RJJ001-CN2

MR-ENCOM CN2

● Between MR-ENCOM CN2 and MELSERVO J4 (2 wire) (MR-ENCOMCBL첸M)

2 – 6

Start-up Operation

3Operation

3.1 Start-up

● Amplifier parameter setting

– Open the software tool provided by Mitsubishi Electric

– Type in the particular motor constant in the software tool. The motor constant should be provided

by the motor manufacturer.

– Download the parameters to the servo amplifier from the tool. Don’t forget to make a power reset

of the amplifier to make the setting valid.

● Connect all cables

– Power ON and check if everything is all right.

– Check if either the Yellow (Hiperface) or the Green (Endat) LED is ON, corresponding to the encoder

communication.

– Move the motor by hand or JOG, to check if the encoder data is correct.

3.2 Troubleshooting

● When red LED 1 (CPU error) is on

–MR-ENCOM malfunction

● When red LED 2 (Communication error) is on

–Encoder malfunction

–MR-ENCOM malfunction

– Amplifier malfunction

– Cable malfunction

● When Hiperface/Endat LED is NOT on, even user connect the encoder

–Encoder malfunction

–MR-ENCOM malfunction

– Cable malfunction

● When servo amplifier alarm is there

– The corresponding alarm or warning is displayed on the amplifer

– Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of

alarms and warnings

– Start MR Configurator2 and connect to the ampifier via USB to get detailed alarm information

● When communication is OK, but servo motor doesn’t run smoothly

– Servo amplifier parameter setting (motor constant, gain)may be wrong

–Noise

Mitsubishi Electric Europe B.V. Dec. 2013 3 – 1

Operation Troubleshooting

3 – 2

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