Mitsubishi Electric MELSERVO-J4 series Bedienungsanleitung

MITSUBISHI ELECTRI

INDUSTRIAL AUTOMATION

MELSERVO-J4 series

Encoder converter

Specification Manual

MR-ENCOM

Art. no. 275742

24 06 2014

Version A Version check

Contents

Mitsubishi Electric Europe B.V. Dec. 2013 I

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

Contents

Summary Introduction

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

1 Introduction

1.1 Summary

MR-ENCOM is a converter

from Endat2.2/Hiperface DSL to Mitsubishi Electric serial encoder commu-

nication, 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 En-

dat 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

* The cable should be prepared by the user.

No. Product name Description

1MR-ENCOMSET MR-ENCOM Endat2.2/Hiperface DSL Encoder converter

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

3 * Cable between MR-ENCOM and servo motor

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

Introduction Product names

1 – 2

Specification table Standard specifications

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

2 Standard specifications

2.1 Specification table

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".

Communication Endat2.1 (without analog signals and sense signal), Endat 2.2 (without

safety function), Hiperface DSL (without safety function)

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

dust

Altitude 3000 m or less above sea level

Mass 250 g

Standard specifications Dimensions [mm]

2 – 2

2.3 Dimensions [mm]

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

CN2

CN1

Installation Standard specifications

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

2.4 Installation

2.4.1 Installation direction and clearances

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.

NOTE Keep 10 mm distance from other components and cabinet.

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

 





10 mm or more

200 mm or more

152 mm

10 mm

10 mm or more

Standard specifications Signals and wiring

2 – 4

2.5 Signals and wiring

2.5.1 LEDs

2.5.2 Connectors and pin assignment

●CN1 (male: to encoder)

* 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.

LED ON status Description

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

Pin No. Signal

Hiperface DSL Endat 2.2

1— +10VOUT

2DSL+ —

3— DATA+

4— CLOCK+

5— GND

6— SELECT_Endat

7DSL- —

8— DATA-

9— CLOCK-

Yellow LED

Green LED

Red LED 1

Red LED 2

54321

9876

Direction looking at product

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