Mitsubishi Electric MELSERVO-JET MR-JET G Series User Manual
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Mitsubishi Electric MELSERVO-JET MR-JET G Series User Manual

Mitsubishi Electric MELSERVO-JET MR-JET G Series User Manual

Ac servo system, partner's encoder
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Mitsubishi Electric AC Servo System
MR-JET Partner's Encoder
User's Manual
-MR-JET-_G_
-MR-JET-_G_-_N1

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Summary of Contents for Mitsubishi Electric MELSERVO-JET MR-JET G Series

  • Page 1 Mitsubishi Electric AC Servo System MR-JET Partner's Encoder User's Manual -MR-JET-_G_ -MR-JET-_G_-_N1...

  • Page 3: Safety Instructions

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

  • Page 5: About The Manual

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

  • Page 6: U.s. Customary Units

    U.S. CUSTOMARY UNITS U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb] Length 1 [mm] 0.03937 [inch] Torque 1 [N•m] 141.6 [oz•inch] Moment of inertia...

  • Page 7: Table Of Contents

    Mitsubishi Electric high-speed serial communication ........
  • Page 8 MR-J4FCCBL03M branch cable ............77 CHAPTER 3 ALARM HANDLING METHODS Detailed explanation of [AL.

  • Page 9: Chapter 1 Linear Encoder

    LINEAR ENCODER Precautions • While the linear encoder and the linear servo motor should be oil and dust proofed, oil and dust proofing are especially important for the linear encoder. Contact the manufacturer of the linear encoder being used. • Use the linear encoder cables specified in this chapter. Using products other than those specified may cause a malfunction. •...

  • Page 10: When Connecting Two Cables To One Grand Plate

    When connecting two cables to one grand plate When connecting two cables to one grand plate, follow the steps below. Peel 30 mm or more of the cable insulator. Adjust the length of the part to be peeled in the insulator when attaching the connector shell. 30 mm or more Cable Shielded cable external conductor...

  • Page 11: Compatible Encoder List

    For information on suitable operating environments and linear encoder specifications such as temperature, vibration resistance, and IP ratings, contact the product manufacturer. Precautions For the encoders that can be used with your servo amplifier, contact your local sales office. Mitsubishi Electric high-speed serial communication Absolute position type Manufacturer Model...
  • Page 12 *1 The values shown in this table are the manufacturer specification values. When the linear encoder is used with the servo amplifiers, the specification value is the lowest value of either the value indicated in the table or the maximum speed of the servo motor. *2 The values shown in this table are the manufacturer specification values.
  • Page 13 Incremental type When using the current position latch function of the touch probe, there are some restrictions. For details, refer to "Touch probe" in the following manual. MR-JET User's Manual (Function) Manufacturer Model Resolution Rated Effective Communication Ver. speed measurement method Motor Load...

  • Page 14: A/B/Z-Phase Differential Output Type

    A/B/Z-phase differential output type When using the current position latch function of the touch probe, there are some restrictions. For details, refer to "Touch probe" in the following manual. MR-JET User's Manual (Function) Encoder type Manufacturer Resolution Rated Effective Communication Ver.

  • Page 15: Linear Encoder Manufactured By Mitutoyo (Absolute Position Type)

    Linear encoder manufactured by Mitutoyo (absolute position type) The absolute position battery is not required when constructing an absolute position detection system. AT343A Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor Servo amplifier Encoder cable Linear encoder Conditions...
  • Page 16 ■For the fully closed loop system • Servo amplifier without CN2L Servo amplifier Encoder cable Linear encoder Branch cable SCALE Rotary servo motor encoder MOTOR Conditions Branch cable Encoder cable Output cable When using an optional encoder (4) MR-J4FCCBL03M (1) MR-EKCBL_M-H (3) Options manufactured by cable Page 77 MR-J4FCCBL03M...
  • Page 17 Fabricating the encoder cable Fabricate the encoder cable using the MR-ECNM connector set as shown below. The encoder cable may be as long as 30 m. ■Encoder cable Receptacle: 36210-0100PL Servo amplifier-side Linear encoder-side Housing: 1-172161-9 Shell kit: 36310-3200-008 Connector pin: 170359-1 (3M) (TE Connectivity or equivalent) Cable clamp: MTI-0002...

  • Page 18: At543A-Sc/At545A-Sc

    AT543A-SC/AT545A-SC Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor Servo amplifier Encoder cable Linear encoder Output cable Head cable Conditions Encoder cable Output cable Head cable When using an optional encoder (1) MR-EKCBL_M-H Linear encoder accessory Linear encoder accessory cable...
  • Page 19 ■For the fully closed loop system • Servo amplifier without CN2L Servo amplifier Encoder cable Linear encoder Output cable Head cable Branch cable SCALE Rotary servo motor encoder MOTOR Conditions Branch cable Encoder cable Output cable Head cable When using an optional (3) MR-J4FCCBL03M (1) MR-EKCBL_M-H Linear encoder accessory...
  • Page 20 Fabricating the encoder cable Fabricate the encoder cable using the MR-ECNM connector set as shown below. The encoder cable may be as long as 30 m. ■Encoder cable Receptacle: 36210-0100PL Servo amplifier-side Linear encoder-side Housing: 1-172161-9 Shell kit: 36310-3200-008 Connector pin: 170359-1 (3M) (TE Connectivity or equivalent) P5 (+5 V)

  • Page 21: St743A/St744A/St748A

    ST743A/ST744A/ST748A Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor Servo amplifier Encoder cable Linear encoder Head cable For the signal adjustment and confirmation, connect the following equipment. Personal Software for computer Conversion unit signal adjustment Conditions Encoder cable...
  • Page 22 ■For the fully closed loop system • Servo amplifier without CN2L Encoder cable Servo amplifier Linear encoder Head cable Branch cable SCALE Rotary servo motor encoder MOTOR Equipment required to adjust and check signals Signal Personal adjustment computer Converter unit software Conditions Branch cable...
  • Page 23 • Servo amplifier with CN2L Servo amplifier Rotary servo motor encoder CN2L Encoder cable Linear encoder Head cable For the signal adjustment and confirmation, connect the following equipment. Software for Personal computer Conversion unit signal adjustment Conditions Encoder cable Head cable When using an optional encoder (1) Options manufactured by Mitutoyo Linear encoder accessory...
  • Page 24 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable Connector set (optional) Servo amplifier-side Linear encoder-side Shell: HDAB-15S MR-J3CN2 Shield cover: HDA-CTH Receptacle: 36210-0100PL...

  • Page 25: St1341A, St1342A

    ST1341A, ST1342A Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor Servo amplifier Encoder cable Linear encoder Head cable Conditions Encoder cable Head cable When using an optional encoder (1) Options manufactured by Mitutoyo Linear encoder accessory cable Part No.06ACF117A: 5 m...
  • Page 26 ■For the fully closed loop system • Servo amplifier without CN2L Encoder cable Servo amplifier Linear encoder Head cable Branch cable SCALE Rotary servo motor encoder MOTOR Conditions Branch cable Encoder cable Head cable When using an optional (4) MR-J4FCCBL03M (1) Options manufactured by Mitutoyo Linear encoder accessory encoder cable...
  • Page 27 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable Connector set (optional) Servo amplifier-side Linear encoder-side Shell: HDAB-15S MR-J3CN2 Shield cover: HDA-CTH Receptacle: 36210-0100PL...

  • Page 28: Linear Encoder Manufactured By Heidenhain

    Linear encoder manufactured by Heidenhain The absolute position battery is not required when constructing an absolute position detection system. LC 495M/LC 496M/LC 195M/LC 196M (absolute position type) • This linear encoder is a four-wire type. To use this linear encoder, change the servo parameter to select the four-wire type.
  • Page 29 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable Connector set (optional) Servo amplifier-side Linear encoder-side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) 5 V/sensor...

  • Page 30: Lic 4193M/Lic 4195M/Lic 4197M/Lic 4199M/Lic 3197M/Lic 3199M/Lic 2197M/Lic 2199M (Absolute Position Type)

    LIC 4193M/LIC 4195M/LIC 4197M/LIC 4199M/LIC 3197M/LIC 3199M/LIC 2197M/LIC 2199M (absolute position type) • These linear encoders are two-wire type or four-wire type. When using a four-wire type linear encoder, change the servo parameter to select the four-wire type. Refer to the following. MR-JET-G User's Manual (Parameters) •...
  • Page 31 ■For the fully closed loop system • Servo amplifier without CN2L Servo amplifier Encoder cables 1 Linear encoder Branch cable SCALE Head cable Rotary servo motor encoder MOTOR Equipment required to adjust and check signals Signal Personal adjustment computer Measuring device software Conditions Branch cable...
  • Page 32 • Servo amplifier with CN2L Rotary servo motor encoder Servo amplifier Encoder cable 1 Linear encoder CN2L Head cable For the signal adjustment and confirmation, connect the following equipment. Software for Personal computer Measuring device signal adjustment Conditions Encoder cable Head cable When using an optional encoder (1) Options manufactured by Heidenhain...
  • Page 33 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 (two-wire type) Connector set (optional) Servo amplifier-side Linear encoder-side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008...
  • Page 34 ■Encoder cable 2 (four-wire type) Connector set (optional) Servo amplifier-side Linear encoder-side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) 5 V/sensor 0 V/sensor View from the wiring side. Connector set: 54599-1019 Plate (Molex) Connector: D-SUB (female) 15 pin View from the wiring side. *1 Encoder cables that meet the following specifications are recommended.

  • Page 35: Lida 483/Lida 485/Lida 487/Lida 489/Lida 287/Lida 289/Lif 481/Lip 6081 (Incremental Type)

    LIDA 483/LIDA 485/LIDA 487/LIDA 489/LIDA 287/LIDA 289/LIF 481/ LIP 6081 (incremental type) • This linear encoder is a four-wire type. To use this linear encoder, change the servo parameter to select the four-wire type. Refer to the following. MR-JET-G User's Manual (Parameters) •...
  • Page 36 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable Connector set (optional) Servo amplifier-side Linear encoder-side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) 5 V/sensor...

  • Page 37: Mc15M (Absolute Position Type)

    MC15M (absolute position type) • These linear encoders are two-wire type or four-wire type. When using a four-wire type linear encoder, change the servo parameter to select the four-wire type. Refer to the following. MR-JET-G User's Manual (Parameters) • When configuring a fully closed loop system, use a two-wire type linear encoder. Cable structure Prepare cables based on the following configuration diagram.
  • Page 38 ■For the fully closed loop system • Servo amplifier without CN2L Servo amplifier Encoder cable 1 Linear encoder Branch cable SCALE Head cable Rotary servo motor encoder MOTOR Conditions Branch cable Encoder cable Head cable When using an optional (4) MR-J4FCCBL03M (1) Options manufactured by Heidenhain Linear encoder accessory Page 77 MR-...
  • Page 39 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 (two-wire type) Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Receptacle: 36210-0100PL...
  • Page 40 ■Encoder cable 2 (four-wire type) Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) 5 V/sensor 0 V/sensor View seen from wiring side. Connector set: 54599-1019 Plate (Molex) Connector: 15-pin D-SUB (female) View seen from wiring side. *1 Encoder cables that meet the following specifications are recommended.

  • Page 41: Linear Encoder Manufactured By Magnescale

    Linear encoder manufactured by Magnescale • SR27A, SR67A, SR77, SR87, SQ47 and SQ57 are absolute position type encoders. SR75 and SR85 are incremental type encoders. • The absolute position battery is not required when constructing an absolute position detection system. SR77/SR87/SR75/SR85 Cable structure Prepare cables based on the following configuration diagram.

  • Page 42: Sl710 + Pl101-Rm/Rhm (Incremental Type)

    SL710 + PL101-RM/RHM (incremental type) Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor Servo amplifier Encoder cable Interpolator Linear encoder MJ832 SL710 PL101-RM/RHM Conditions Encoder cable Interpolator When using an optional encoder (1) Options manufactured by Magnescale Linear encoder accessory cable CE33-_...
  • Page 43 ■For the fully closed loop system • Servo amplifier without CN2L Servo amplifier Encoder cable Interpolator Linear encoder MJ832 SL710 PL101-RM/RHM Branch cable SCALE Rotary servo motor encoder MOTOR Conditions Branch cable Encoder cable Interpolator When using an optional (4) MR-J4FCCBL03M (1) Options manufactured by Magnescale Linear encoder accessory encoder cable...
  • Page 44 Fabricating the encoder cable used to connect the servo amplifier and interpolator Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable Connector set (optional) Servo amplifier-side Linear encoder-side Plug: 36110-3000FD...

  • Page 45: Sr27A/Sr67A/Sq47/Sq57

    SR27A/SR67A/SQ47/SQ57 • These linear encoders are two-wire type or four-wire type. When using a four-wire type linear encoder, change the servo parameter to select the four-wire type. Refer to the following. MR-JET-G User's Manual (Parameters) • When configuring a fully closed loop system, use a two-wire type linear encoder. Cable structure Prepare cables based on the following configuration diagram.

  • Page 46: Sq10 + Pq10 + Mq10 (Incremental Type)

    SQ10 + PQ10 + MQ10 (incremental type) • These linear encoders are two-wire type or four-wire type. When using a four-wire type linear encoder, change the servo parameter to select the four-wire type. Refer to the following. MR-JET-G User's Manual (Parameters) •...
  • Page 47 ■For the fully closed loop system • Servo amplifier without CN2L Servo amplifier Encoder cable 1 Linear encoder MQ10 SQ10 PQ10 Branch cable SCALE Rotary servo motor encoder MOTOR Condition Branch cable Encoder cable When fabricating an encoder cable (3) MR-J4FCCBL03M (1) MR-J3CN2 connector set (2) Junction connector Page 77 MR-J4FCCBL03M...
  • Page 48 Fabricating the encoder cable used to connect the servo amplifier and interpolator Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable 1 (two-wire type) Connector set (optional) Servo amplifier-side MQ10 side...
  • Page 49 ■Encoder cable 2 (four-wire type) Connector set (option) Servo amplifier side MQ10 side Plug: 10114-3000PE (3M) MR-J3CN2 Shell kit: 10314-52F0-008 (3M) Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) SQ_X View from the wiring side. SD_X Connector set: 54599-1019 Plate Plate (Molex) View from the wiring side.

  • Page 50: Bl50H + Bd700 (Incremental Type)

    BL50H + BD700 (incremental type) Precautions • Connect the external power supply to BL50H + BD700. The external power supply should be prepared by the customer. Do not apply the voltage outside of the specifications. Doing so can cause malfunctions or unexpected system behavior. For details, contact Magnescale.
  • Page 51 ■For the fully closed loop system • Servo amplifier without CN2L Servo amplifier External power supply Encoder cable 1 Linear encoder BL50H Branch cable BD700 SCALE Rotary servo motor encoder MOTOR Condition Branch cable Encoder cable Output cable Cable for external power supply When fabricating an (3) MR-J4FCCBL03M...

  • Page 52: Encoder Cable

    Fabricating the encoder cable used to connect the servo amplifier and interpolator Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 15 m. ■Encoder cable 1 Connector set (optional) Servo amplifier-side BD700 side...

  • Page 53: Linear Encoder Manufactured By Renishaw

    Linear encoder manufactured by Renishaw • The absolute position battery is not required when constructing an absolute position detection system. RESOLUTE RL40M (absolute position type) Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor Servo amplifier Encoder cable Linear encoder...
  • Page 54 ■For the fully closed loop system • Servo amplifier without CN2L Servo amplifier Encoder cable Linear encoder Output cable Branch cable SCALE Rotary servo motor encoder MOTOR Branch cable Encoder cable Output cable (3) MR-J4FCCBL03M (1) MR-J3CN2 connector set (2) Junction connector Linear encoder accessory Page 77 MR-J4FCCBL03M Page 53 Fabricating the encoder...
  • Page 55 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable Connector set (optional) Servo amplifier-side Linear encoder-side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) View from the wiring side.

  • Page 56: Evolute El40M (Absolute Position Type)

    EVOLUTE EL40M (absolute position type) Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor Servo amplifier Encoder cable Linear encoder Output cable Encoder cable Output cable (1) MR-J3CN2 connector set (2) Junction connector Linear encoder accessory Page 56 Fabricating the encoder cable 9-pin D-SUB (female) Cable length: 0.5 m...
  • Page 57 ■For the fully closed loop system • Servo amplifier without CN2L Servo amplifier Encoder cable Linear encoder Output cable Branch cable SCALE Rotary servo motor encoder MOTOR Branch cable Encoder cable Output cable (3) MR-J4FCCBL03M (1) MR-J3CN2 connector set (2) Junction connector Linear encoder accessory Page 77 MR-J4FCCBL03M Page 56 Fabricating the encoder...
  • Page 58 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable Connector set (optional) Servo amplifier-side Linear encoder-side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) View from the wiring side.

  • Page 59: Linear Encoder Pslh041 Manufactured By Nidec Instruments Corporation (Incremental Type)

    Linear encoder PSLH041 manufactured by NIDEC INSTRUMENTS CORPORATION (Incremental type) Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor Servo amplifier Encoder cable Linear encoder Output cable Encoder cable Output cable (1) MR-J3CN2 connector set (2) Junction connector Linear encoder accessory Page 59 Fabricating the encoder cable...
  • Page 60 ■For the fully closed loop system • Servo amplifier without CN2L Servo amplifier Encoder cable Linear encoder Output cable Branch cable SCALE Rotary servo motor encoder MOTOR Branch cable Encoder cable Output cable (3) MR-J4FCCBL03M (1) MR-J3CN2 connector set (2) Junction connector Linear encoder accessory Page 77 MR-J4FCCBL03M Page 59 Fabricating the encoder...
  • Page 61 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 30 m. ■Encoder cable Connector set (optional) Servo amplifier side Linear encoder side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008...

  • Page 62: Linear Encoder Manufactured By Nidec Machine Tool Corporation

    Linear encoder manufactured by NIDEC MACHINE TOOL CORPORATION MPFA-HZ-M01 (absolute position type) The absolute position battery is not required when constructing an absolute position detection system. Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor Servo amplifier Encoder cable Linear encoder...
  • Page 63 ■For the fully closed loop system • Servo amplifier without CN2L Servo amplifier Encoder cable Linear encoder Output cable Branch cable SCALE Rotary servo motor encoder MOTOR Branch cable Encoder cable Output cable (3) MR-J4FCCBL03M (1) MR-J3CN2 connector set (2) Junction connector Linear encoder accessory Page 77 MR-J4FCCBL03M Page 62 Fabricating the encoder...
  • Page 64 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 20 m. ■Encoder cable Connector set (option) Servo amplifier side Linear encoder side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008...

  • Page 65: Mpfa-Hi-M01 (Incremental Type)

    MPFA-HI-M01 (incremental type) Cable structure Prepare cables based on the following configuration diagram. ■For the linear servo motor Servo amplifier Encoder cable Linear encoder Output cable Encoder cable Output cable (1) MR-J3CN2 connector set (2) Junction connector Linear encoder accessory Page 65 Fabricating the encoder cable 9-pin D-SUB (female) Cable length: 0.5 m...
  • Page 66 ■For the fully closed loop system • Servo amplifier without CN2L Servo amplifier Encoder cable Linear encoder Output cable Branch cable SCALE Rotary servo motor encoder MOTOR Branch cable Encoder cable Output cable (3) MR-J4FCCBL03M (1) MR-J3CN2 connector set (2) Junction connector Linear encoder accessory Page 77 MR-J4FCCBL03M Page 65 Fabricating the encoder...
  • Page 67 Fabricating the encoder cable Fabricate the encoder cable using the MR-J3CN2 connector set and junction connector as shown below. The encoder cable may be as long as 20 m. ■Encoder cable Connector set (optional) Servo amplifier-side Linear encoder-side MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) Plate...

  • Page 68: A/B/Z-Phase Differential Output Type Encoder

    A/B/Z-phase differential output type encoder This section explains how to connect an A/B/Z-phase differential output type encoder to a servo amplifier. Precautions A/B/Z-phase differential output rotary encoders cannot be connected to the servo motor side. Use the encoder that satisfies the specifications described in this section. For information on the encoder specifications (resolution and output specifications), contact the manufacturer of the encoder being used.

  • Page 69: Servo Amplifier Input Signal Level

    Servo amplifier input signal level The input circuit of the servo amplifier is as shown in the following diagram. Use the encoder whose high and low signal levels at the CN2 and CN2L connector contacts of each phase are within the following specified values. •...
  • Page 70 ■Internal wiring diagram Fabricate cables using wire that can withstand repetitive bending. The maximum cable length is 30 m, however, the length may need to be shortened due to the power supply voltage drop or the specifications of the encoder being used. A connection example is shown below.
  • Page 71 • For encoders with a current consumption of more than 350 mA Precautions • When turning on the power, turn on the 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 supply Servo amplifier-side A/B/Z-phase differential...

  • Page 72: Connection For The Fully Closed Loop System And Scale Measurement Function

    Connection for the fully closed loop system and scale measurement function Servo amplifier without CN2L Servo amplifier Branch cable MOTOR Servo motor encoder A/B/Z-phase differential output linear encoder SCALE A/B/Z-phase differential output rotary encoder *1 Use a two-wire type encoder cable. A four-wire type encoder cable cannot be used. *2 When a servo motor is used for the rotary encoder, a voltage is output from the power cable or the connector.
  • Page 73 ■Internal wiring diagram Prepare the encoder connector set that supports the servo motor to be used and fabricate the branch cable. For the encoder connector set, refer to the "Combinations of cables/connector sets" in the following manual. Rotary Servo Motor User's Manual (For MR-JET) The length of the branch cable may need to be shortened due to the power supply voltage drop or the specifications of the encoder being used.
  • Page 74 • For encoders with a current consumption of more than 350 mA Precautions When turning on the power, turn on the 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. Servo motor side (MOTOR) Plate...
  • Page 75 Servo amplifier with CN2L Servo amplifier A/B/Z-phase differential output linear encoder Servo motor encoder CN2L Connector set MR-J3CN2 (optional) A/B/Z-phase differential output rotary encoder *1 Use a two-wire type encoder cable. A four-wire type encoder cable cannot be used. *2 When a servo motor is used for the rotary encoder, a voltage is output from the power cable or the connector. Insulation is therefore required.
  • Page 76 • For encoders with a current consumption of more than 350 mA Precautions • When turning on the power, turn on the 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 supply Servo amplifier-side A/B/Z-phase differential...

  • Page 77: Chapter 2 Option Cables/Connector Sets

    OPTION CABLES/CONNECTOR SETS MR-EKCBL_M-H encoder cable Model explanations Model: Long bending life Long bending life Symbol Cable length [m] Cable structure The table below shows the structure of this option cable. IP rating Bending Length Core size Number of Characteristics of one core Cable OD Recommended life...

  • Page 78: Internal Wiring Diagram

    Internal wiring diagram Servo amplifier-side Linear encoder-side Plate MR-ECNM connector set The following shows the connector combination for this connector set. IP rating Parts Description IP20 Connector set MR-ECNM Servo amplifier-side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) Connector set: 54599-1019 (Molex) Junction connector Housing: 1-172161-9 Connector pin: 170359-1...

  • Page 79: Mr-J4Fccbl03M Branch Cable

    MR-J4FCCBL03M branch cable This branch cable is for connecting the encoder and of a rotary servo motor and the load-side linear encoder to the CN2 connector. Refer to the following when fabricating the branch cable using the MR-J3THMCN2 connector set. Page 90 Fabricating a branch cable for a fully closed loop system 0.3 m MOTOR...

  • Page 80: Chapter 3 Alarm Handling Methods

    ALARM HANDLING METHODS If the actions described in this chapter do not solve the alarm, contact the manufacturer of the product being used. Detailed explanation of [AL. 028 Linear encoder error 2] Linear encoder manufactured by Mitutoyo AT343A/AT54_A Detail No. Details Cause Check/action method...

  • Page 81: Linear Encoder Manufactured By Magnescale

    Linear encoder manufactured by Magnescale SR77/SR87/SR27A/SR67A/SQ47/SQ57 Detail No. Details Cause Check/action method 028.1 Encoder warning The signal level has decreased or excessive level Check if the reading position relation between the scale and (signal level overflow) has occurred. head such as the gap satisfy the specifications. If the error repeats at the same position, contact Magnescale.

  • Page 82: Detailed Explanation Of [Al. 02A Linear Encoder Error 1]

    Detailed explanation of [AL. 02A Linear encoder error 1] Linear encoder manufactured by Mitutoyo AT343A/AT54_A Detail No. Details Cause Check/action method 02A.1 Initialization error The alarm occurs when the initialization process of Check if the power supply voltage to the linear encoder satisfies the linear encoder does not terminate normally when the specifications.
  • Page 83 Detail No. Details Cause Check/action method 02A.6 EEP-ROM error The alarm occurs when a data error or Check if the power supply voltage to the linear encoder satisfies communication error in the internal memory of the the specifications. linear encoder is detected. Check if the cable from the servo amplifier to the detection head •...
  • Page 84 ST74_A Detail No. Details Cause Check/action method 02A.1 Overspeed error The alarm occurs when the detection head detects If the detection head speed exceeds 5 m/s, review the operation that the maximum feed speed (5 m/s) is exceeded. conditions. • Overspeed of the detection head Check for flaws on the scale and disconnection in the coil •...
  • Page 85 ST134_A Detail No. Details Cause Check/action method 02A.1 Overspeed The alarm occurs when the detection head detects If the detection head speed exceeds 8 m/s, review the operation that the maximum feed speed (8 m/s) is exceeded. conditions. • Overspeed of the detection head If the alarm occurs at a specific position in the scale, check for •...

  • Page 86: Linear Encoder Manufactured By Heidenhain

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

  • Page 87: Linear Encoder Manufactured By Magnescale

    Linear encoder manufactured by Magnescale SR77/SR87/SR27A/SR67A/SQ47/SQ57 Detail No. Details Cause Check/action method 02A.1 Initialization error There is a problem in the laser diode current. Contact Magnescale. 02A.2 Data mismatch There is a mismatch between the position data Check if the reading position relation between the scale and currently being output and the position data head such as the gap satisfy the specifications.

  • Page 88: Linear Encoder Manufactured By Nidec Instruments Corporation

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

  • Page 89: Linear Encoder Manufactured By Nidec Machine Tool Corporation

    Linear encoder manufactured by NIDEC MACHINE TOOL CORPORATION MPFA-HZ-M01 Detail No. Details Cause Check/action method 02A.1 Feedback error 1 A weak signal was detected during the continuous The alarm will not be cleared until the cause is removed and the signal check.
  • Page 90 MPFA-HI-M01 Detail No. Details Cause Check/action method 02A.1 Feedback error 1 A weak signal was detected during the continuous The alarm will not be cleared until the cause is removed and the signal check. power is cycled. • Wide mounting gap for the head •...

  • Page 91: Trouble Which Does Not Trigger An Alarm/Warning

    Trouble which does not trigger an alarm/warning This section shows examples of trouble which will not trigger an alarm or warning as well as the possible causes of such trouble. Refer to this section and remove each cause of trouble. Linear encoder manufactured by Magnescale BL50H+BD700 ■The servo motor does not operate...

  • Page 92: Chapter 4 Appendix

    APPENDIX Fabricating a branch cable for a fully closed loop system Fabricate the branch cable using the MR-J3THMCN2 connector set as shown in the connection diagram of the following section. Page 77 MR-J4FCCBL03M branch cable The branch cable length should be 0.3 m or less. Parts Description MR-J3THMCN2 connector set...
  • Page 93 MEMO 4 APPENDIX 4.1 Fabricating a branch cable for a fully closed loop system...

  • Page 94: Revisions

    Section 3.1, Section 3.2, Section 3.3 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 95: Warranty

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

  • Page 96: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. IB(NA)-0300523ENG-F...
  • Page 98 IB(NA)-0300523ENG-F(2411)MEE MODEL: MODEL CODE: HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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