General-Purpose AC Servo

J2-Super Series
SSCNET Fully Closed Control Compatible

J2-Super Series
MODEL

MR-J2S- B-PY096
MR-J2S- B-S096(5.7kW)

MR-J2S- B-PY096 MR-J2S- B-S096(5.7kW) Instruction Manual B

INSTRUCTION MANUAL

MODEL
MODEL
CODE

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

B
SH (NA) 030035-B (0701) MEE Printed in Japan Specifications subject to change without notice.
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 Safety Instructions
(Always read these instructions before using the equipment.)

Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents
carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor 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".

Indicates that incorrect handling may cause hazardous conditions,

WARNING resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

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

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 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, always keep it accessible to the operator.

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 1. To prevent electric shock, note the following:

WARNING
Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage
is safe with voltage tester. Otherwise, you may get an electric shock.
Connect the servo amplifier and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock.
During power-on or operation, do not open the front cover. You may get an electric shock.
Do not operate the converter unit and servo amplifier with the front cover removed. High-voltage terminals
and charging area are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even if the power is off. The servo
amplifier is charged and you may get an electric shock.

2. To prevent fire, note the following:

CAUTION
Install the converter unit and servo amplifier, servo motor and regenerative resistor on incombustible
material. Installing them directly or close to combustibles will lead to a fire.
When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous
flow of a large current may cause a fire.
When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

3. To prevent injury, note the follow

CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst,
damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
During power-on or for some time after power-off, do not touch or close a parts (cable etc.) to the servo
amplifier heat sink, regenerative resistor, servo motor, etc. Their temperatures may be high and you may
get burnt or a parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

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 4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric
shock, etc.

(1) Transportation and installation

CAUTION
Transport the products correctly according to their weights.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the controller. The controller may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The controller and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.
Conditions
Environment
Servo amplifier Servo motor
[ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing)
Operation
Ambient [ ] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
temperature [ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
Storage
[ ] 4 to 149 (non-freezing) 5 to 158 (non-freezing)
Ambient Operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)
humidity Storage 90%RH or less (non-condensing)
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level
HC-KFS Series
HC-MFS Series X Y : 49
HC-UFS13 to 73
HC-SFS81
HC-SFS52 to 152
HC-SFS53 to 153 X Y : 24.5
HC-RFS Series
HC-UFS 72 152
[m/s2] 5.9 or less
HC-SFS121 201
HC-SFS202 352 X : 24.5
HC-SFS203 353 Y : 49
HC-UFS202 to 502
HC-SFS301 X : 24.5
HC-SFS502 to 702 Y : 29.4
X : 11.7
HA-LFS11K2 to 22K2
(Note) Y : 29.4
Vibration HC-KFS Series
HC-MFS Series X Y : 161
HC-UFS 13 to 73
HC-SFS81
HC-SFS52 to 152
HC-SFS53 to 153 X Y : 80
HC-RFS Series
HC-UFS 72 152
[ft/s2] 19.4 or less
HC-SFS121 201
HC-SFS202 352 X : 80
HC-SFS203 353 Y : 161
HC-UFS202 to 502
HC-SFS301 X : 80
HC-SFS502 to 702 Y : 96
X : 38
HA-LFS11K2 to 22K2
Y : 96
Note. Except the servo motor with reduction gear.

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 CAUTION
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, consult Mitsubishi.

(2) Wiring

CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo
motor and servo amplifier.
Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.

Servo Amplifier Servo Amplifier

(drive unit) Servo Motor (drive unit) Servo Motor
U U
U U
V V
V M V M
W W
W W

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal of the servo amplifier relay must be wired in
the specified direction. Otherwise, the forced stop (EM1) and other protective circuits may not operate.

Servo Servo
Amplifier Amplifier

COM COM
(24VDC) (24VDC)

Control Control
output output
RA RA
signal signal

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 (3) Test run adjustment

CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.

(4) Usage

CAUTION
Provide a forced stop circuit to ensure that operation can be stopped and power switched off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an
accident. A sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.

(5) Corrective actions

CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prevention.
Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but
also by a forced stop (EM1).

Contacts must be open when Circuit must be

servo-off, when an alarm occurrence opened during
and when an electromagnetic brake forced stop (EM1).
interlock (MBR).
Servo motor
RA EM1

24VDC

Electromagnetic brake

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 CAUTION
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

(6) Maintenance, inspection and parts replacement

CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment. Please consult our sales representative.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Instruction Manual.

About processing of waste

When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).

FOR MAXIMUM SAFETY

These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace,
medicine, passenger movement vehicles or under water relays, contact Mitsubishi.
These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe
functions in the system.

EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes

Precautions for Choosing the Products

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi;
machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage,
accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other
than Mitsubishi products; and to other duties.

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 COMPLIANCE WITH EC DIRECTIVES
1. WHAT ARE EC DIRECTIVES?
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in
January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,
1997) of the EC directives require that products to be sold should meet their fundamental safety
requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment
into which servo amplifiers have been installed.
(1) EMC directive
The EMC directive applies not to the servo units alone but to servo-incorporated machines and
equipment. This requires the EMC filters to be used with the servo-incorporated machines and
equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to
the EMC Installation Guidelines (IB(NA)67310).
(2) Low voltage directive
The low voltage directive applies also to servo units alone. Hence, they are designed to comply with
the low voltage directive.
This servo is certified by TUV, third-party assessment organization, to comply with the low voltage
directive.
(3) Machine directive
Not being machines, the servo amplifiers need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE

(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier :MR-J2S-10B-PY096 to MR-J2S-350B-PY096
MR-J2S-500B-S096 to MR-J2S-700B-S096
MR-J2S-10B1-PY096 to MR-J2S-40B1-PY096
Servo motor :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(2) Configuration
Control box

Reinforced
insulating type
(Note)
Reinforced 24VDC
insulating power
No-fuse Magnetic supply
transformer Servo
breaker contactor
motor
Servo
NFB MC amplifier SM

Note. The insulating transformer is not required for the 11kW or more servo amplifier.
(3) Environment
Operate the servo amplifier at or above the contamination level 2 set forth in IEC664. For this
purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,
dirt, etc. (IP54).
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 (4) Power supply
(a) Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category II set
forth in IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN
standard should be used in the power input section.
Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage
category III set forth in IE644, a reinforced insulating transformer is not required in the power
input section.

(b) When supplying interface power from external, use a 24VDC power supply which has been
insulation-reinforced in I/O.

(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the
servo amplifier to the protective earth (PE) of the control box.

(b) Do not connect two ground cables to the same protective earth (PE) terminal Always connect the
cables to the terminals one-to-one.

PE terminals PE terminals

(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE)
terminals of the servo amplifier must be connected to the corresponding earth terminals.

(6) Wiring
(a) The cables to be connected to the terminal block of the servo amplifier must have crimping
terminals provided with insulating tubes to prevent contact with adjacent terminals.

Crimping terminal

Insulating tube

Cable

(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard
compliant power connector sets are available from us as options.

(7) Auxiliary equipment and options

(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant
products of the models described in Section 12.2.2.
(b) The sizes of the cables described in Section 12.2.1 meet the following requirements. To meet the
other requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [ ( )]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray
(c) Use the EMC filter for noise reduction.

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 (8) Performing EMC tests
When EMC tests are run on a machine/device into which the servo amplifier has been installed, it
must conform to the electromagnetic compatibility (immunity/emission) standards after it has
satisfied the operating environment/electrical equipment specifications.
For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation
Guidelines(IB(NA)67310).

CONFORMANCE WITH UL/C-UL STANDARD

(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier :MR-J2S-10B-PY096 to MR-J2S-350B-PY096

MR-J2S-500B-S096 to MR-J2S-700B-S096
MR-J2S-10B1-PY096 to MR-J2S-40B1-PY096
Servo motor :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS

(2) Installation
Install a cooling fan of 100CFM (2.8m3/min) air flow 4 in (10.16 cm) above the servo amplifier or
provide cooling of at least equivalent capability.

(3) Short circuit rating

This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having
been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo
amplifier conforms to the above circuit.

(4) Capacitor discharge time

The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for
15 minutes after power-off.
Discharge time
Servo amplifier
[min]
MR-J2S-10B(1) 20B(1) 1
MR-J2S-40B(1) 60B 2
MR-J2S-70B to 350B 3
MR-J2S-500B 700B 5
MR-J2S-11KB 4
MR-J2S-15KB 6
MR-J2S-22KB 8

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

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 (6) Attachment of a servo motor
For the flange size of the machine side where the servo motor is installed, refer to "CONFORMANCE
WITH UL/C-UL STANDARD" in the Servo Motor Instruction Manual.

(7) About wiring protection

For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.

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 CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 6

1.1 Overview................................................................................................................................................... 1- 1
1.2 Control block diagram............................................................................................................................. 1- 2
1.3 Specification list....................................................................................................................................... 1- 3
1.4 Model name .............................................................................................................................................. 1- 3
1.5 System configuration............................................................................................................................... 1- 4

2. LINEAR SCALES 2- 1 to 2-30

2.1 Compatible linear scale list .................................................................................................................... 2- 1

2.1.1 Mitutoyo make linear scales (ABS type) ........................................................................................ 2- 2
2.1.2 Heidenhain make linear encoder (linear scale) (ABS type) ......................................................... 2- 9
2.1.3 Renishaw make linear encoders (linear scales) (INC type)......................................................... 2-15
2.1.4 Sony precision technology make linear encoders (linear scales) (INC type) ............................. 2-21
2.2 A B Z-phase differential input Interface unit specifications.......................................................... 2-27

3. SIGNALS AND WIRING 3- 1 to 3- 6

3.1 Standard connection examples of full closed control servo amplifier control signals....................... 3- 1
3.2 Signal terminal explanation................................................................................................................. 3- 5
3.3 About power-on ........................................................................................................................................ 3- 6

4. OPERATION AND FUNCTIONS 4- 1 to 4-22

4.1 Startup...................................................................................................................................................... 4- 1
4.1.1 Startup procedure............................................................................................................................. 4- 1
4.1.2 Selection of full closed function ....................................................................................................... 4- 2
4.1.3 Selection of full closed encoder communication system................................................................ 4- 3
4.1.4 Setting of full closed encoder polarity............................................................................................. 4- 4
4.1.5 Setting of full closed encoder electronic gear ................................................................................. 4- 5
4.1.6 Confirmation of full closed encoder position data ......................................................................... 4- 6
4.1.7 Setting of dual feedback switching filter........................................................................................ 4- 7
4.2 Home position return operation ............................................................................................................. 4- 8
4.2.1 General precautions ......................................................................................................................... 4- 8
4.2.2 Full closed encoder types and home position return methods ..................................................... 4- 8
4.3 Operation from controller ...................................................................................................................... 4-15
4.3.1 Operation from controller ............................................................................................................... 4-15
4.3.2 Controller setting............................................................................................................................. 4-15
4.4 Functions ................................................................................................................................................. 4-17
4.4.1 Full closed control error detection.................................................................................................. 4-17
4.4.2 Auto tuning function ....................................................................................................................... 4-18
4.4.3 Machine analyzer function ............................................................................................................. 4-18
4.4.4 Test operation .................................................................................................................................. 4-18
4.5 Absolute position detection system....................................................................................................... 4-19

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 4.6 About the MR Configurator................................................................................................................... 4-20
4.6.1 When current version of MR Configurator
(MRZJW3-SETUP121 to -SETUP151 S/W: E0 version) is used ................................................. 4-20
4.6.2 When full closed compatible MR Configurator
(MRZJW3-SETUP151 S/W: E1 version or later) is used ............................................................. 4-21

5. PARAMETERS 5- 1 to 5- 8

5.1 Parameter list ...................................................................................................................................... 5- 1

6. TROUBLESHOOTING 6- 1 to 6- 2

6.1 Alarm list.................................................................................................................................................. 6- 1

6.2 Scale error (AL. 2A) details classified by linear scale manufacturer ................................................. 6- 2

7. OPTIONS AND AUXILIARY EQUIPMENT 7- 1 to 7- 2

7.1 CN2 wiring option cable (MR-J2SCLCBL02M-P-H) ........................................................................... 7- 1

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 1. FUNCTIONS AND CONFIGURATION

1 FUNCTIONS AND CONFIGURATION

1.1 Overview

This Instruction Manual explains the product that imports a position F/B signal from a full closed
encoder, such as a linear scale, to the MR-J2S-B servo amplifier to perform full closed control.
For the items not described in this Instruction Manual, refer to the MELSERVO-J2S-B Specifications and
Installation Guide and Instruction Manual since they are the same as those of the standard model.
For the specifications of the A B Z differential input I/F unit MR-J2S-CLP01, refer to the MR-J2S-
CLP01 Installation Guide.

[Items changed from those of the standard model]

1) The A B Z differential input I/F unit MR-J2S-CLP01 or Mitsubishi serial interface compatible
linear scale is used to detect the position F/B signal of a full closed encoder such as a linear scale.
2) In addition to the full closed control that feeds back the position signal of the full closed encoder,
dual F/B control that feeds back a signal composed of the full closed encoder's position F/B signal
and the motor position F/B signal has been added as an extended function.
3) Function to switch pulse output between the full closed encoder and motor end encoder
4) Addition of restriction on the RS232C communication baud rate (enabled for 9600bps only)

[Functions deleted from the standard model]

1) Speed torque control
2) Motor-less operation (test operation)

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 1. FUNCTIONS AND CONFIGURATION

1.2 Control block diagram

A full closed control block diagram is shown below.

Dual f/b position signal

CMX
Controller Servo motor
1

S
Command pulse Linear scale
train electronic gear
Parameter No. 6
ABZ phase pulse
Full closed selection OP9 output selection
Parameter No. 62 Parameter No. 68
(Note 1, 2) S
FCT Full closed control error
Dual F/B filter detection function selection
Parameter No. 67 Parameter No. 62, 63, 64
FCM
(Note 2)
FCD
Full closed electronic gear
In-position judgment Parameter No. 65, 66
INP 1 FCD
Droop pulses (MR Configurator
CMX Position deviation FCM display, analog monitor)
Command pulse unit Encoder pulse unit Closed end pulse unit
Droop pulse unit
selection
Parameter No. 68
Full closed control block diagram

Note 1. Switching between semi closed control and full closed control can be performed by changing the setting of parameter No. 62.
When semi closed control is selected, control is always performed on the basis of the position data of the motor end encoder
(independently of whether the motor is at a stop or running).
2. When parameter No. 62 "full closed function" is valid, dual F/B control in which the motor F/B signal and full closed encoder F/B
signal are combined by the dual F/B filter in parameter No. 67 is performed.
In this case, full closed control is performed when the motor is at a stop, and semi closed control is performed when the motor
is operating to improve control performance. When 1000 is set as the filter value of parameter No. 67, full closed control is
always performed.

Control Mode Item Description

Feature Position is controlled according to the motor end data.
Since this control is insusceptible to machine influence (such as
Advantage machine resonance), the gains of the servo amplifier can be
Semi closed control
raised and the settling time shortened.
If the motor end is at a stop, the machine end may be vibrating
Disadvantage
or the machine end accuracy not obtained.
Position is controlled according to the motor end data and
Feature
machine end data.
Control is performed according to the motor end data during
operation, and according to the machine end data at a stop in
Dual F/B control
Advantage sequence to raise the gains during operation and shorten the
settling time.
A stop is made with the machine end accuracy.
Disadvantage No specific disadvantage.
Feature Position is controlled according to the machine end data.
The machine end accuracy is obtained not only at a stop but also
Advantage
during operation.
Full closed control
Since this control is susceptible to machine influence (such as
Disadvantage machine resonance), the gains of the servo amplifier do not rise
and the settling time increases.
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 1. FUNCTIONS AND CONFIGURATION

1.3 Specification list

(1) Servo amplifiers

Servo Amplifier Model 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 10B1 20B1 40B1
MR-J2S- -PY096 -PY096 -PY096 -PY096 -PY096 -PY096 -PY096 -PY096 -S096 -S096 -PY096 -PY096 -PY096
Three-phase 200 to 230VAC/50, 60Hz
Voltage frequency Three-phase 200 to 230VAC/50, 60Hz Single-phase 100 to
or single-phase 230VAC/50, 60Hz
(Note 1) (Note 2) 120VAC/50, 60Hz
(Note 2)
Three-phase 170 to 253VAC/50, 60Hz
Power Permissible voltage Single-phase 85 to
or single-phase 207 to 253VAC/50, Three-phase 170 to 253VAC/50, 60Hz
supply fluctuation 127VAC/50, 60Hz
60Hz
Permissible
frequency Within 5%
fluctuation
Control system Sine-wave PWM control current control system
Overcurrent shutoff, regenerative overvoltage shutoff, overload shutoff (electronic thermal relay),
Protective functions servo motor overheat protection, encoder error protection, regeneration error protection,
undervoltage instantaneous power supply protection, overspeed protection, error excessive protection
Self-cooling,
Structure Self-cooling, open (IP00) Forced cooling, open (IP00)
open (IP00)
Ambient
0 to 55 (non-freezing), storage: 20 to 65 (non-freezing)
temperature
Ambient
90%RH or less (non-condensing), storage: 90%RH or less (non-condensing)
Environment humidity
Ambience Indoors (no direct sunlight), without corrosive gas flammable gas oil mist dust and dirt
Altitude 1000m or less above sea level
Vibration 5.9m/s2 or less
Weight (kg) 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 7.2 0.7 0.7 1.1
Note 1. The rated output capacity and rated speed of a servo motor used with the servo amplifier assumes that the power supply
voltage and frequency are as indicated. They cannot be guaranteed when a power supply voltage drop occurs.
2. The torque characteristic of the servo amplifier used with a servo motor assumes that the voltage is three-phase 200 to 230VAC
or single-phase 230VAC.

1.4 Model name

MR-J2S B 1 PY096

Mitsubishi general-purpose B: SSCNET compatibility

AC servo amplifier series name
Compatible motor list
Symbol HC-KFS HC-MFS HC-SFS HC-RFS HC-UFS Symbol Power supply Full closed control
Symbol
10 053, 13 053, 13 13 Three-phase 200VAC compatible amplifier
20 23 23 23 None or single-phase MR-J2S-B type
230VAC (Note 1) PY096
40 43 43 43 0.05 to 3.5kw
60 52, 53 Single-phase 100VAC MR-J2S-B type
1 (Note 2) S096
70 73 73 72, 73 5.0, 7.0kw
100 81, 102, 103 Note: 1. Single-phase 230VAC is
for only the servo amplifier
121, 201, 152, of MR-J2S-70 or less.
200 103, 153 152
202, 153, 203 2. For only the servo amplifier
350 301, 352, 353 203 202 of MR-J2S-40 or less.
500 502 353, 503 352, 502
700 702
Note. The standard specifications comply with the EN, UL and cUL Standards.

1- 3

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 1. FUNCTIONS AND CONFIGURATION

1.5 System configuration

(1) When A B Z differential input interface unit (MR-J2S-CLP01) is used

The A B Z differential input interface unit (MR-J2S-CLP01) converts external ABZ phase pulses
into a position feedback signal that can be used for serial communication.
Full closed control is enabled by connecting the output of the MR-J2S-CLP01 to the servo amplifier
encoder connector.

When the MR-J2S-CLP01 is used, a linear scale without Z phase cannot be

CAUTION connected. Use a linear scale that has the Z phase.

System configuration example 1 (when ABZ pulse train-specified linear scale is used)
ABZ differential input I/F unit
Servo amplifier MR-J2S-CLP01
General-purpose pulse output linear scale
SSCNET controller To other CN1A
SSCNET axis
CN1B
Position
command A, B, Z phase output (ALM output)
control signal CN2

CN2

Encoder signal Linear scale

Servo motor

Note 1. A linear scale without Z phase cannot be connected.

2. No compatibility with an absolute position detection system.

System configuration example 2 (when ABZ phase pulse train-specified rotary encoder is used)
ABZ differential input I/F unit
Servo amplifier MR-J2S-CLP01 General-purpose pulse output encoder
SSCNET controller To other CN1A
SSCNET axis
A, B, Z phase output
CN1B
Position (ALM output)
command
control signal CN2

CN2

Encoder signal

Rotary encoder

Servo motor

Note 1. A rotary without Z phase cannot be connected.

2. No compatibility with an absolute position detection system.
3. In this example, full closed control cannot be performed if there is no stock (work).

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 1. FUNCTIONS AND CONFIGURATION

(2) When A B Z differential input interface unit (MR-J2S-CLP01) is not used

System configuration example 3 (when serial communication-specified linear scale is used)

Serial I/F linear scale

Servo amplifier
SSCNET controller
SSCNET To other axis

Position
command
control
signal Serial communication signal cable
CN2

Encoder signal Linear scale

Servo motor

Note 1. When an ABS type linear scale is used, this example is compatible with an absolute position detection system. Note that
the battery (MR-BAT) is not needed.

System configuration example 4 (when serial communication-specified servo motor is used)

Servo amplifier Serial I/F encoder

SSCNET controller
SSCNET To other axis

Position
command
control
Serial communication signal cable
signal
CN2
Position detection section (detecting servo
motor and pulley)
Encoder signal Use the HC-MFS/KFS series servo motor.
(131072p/rev resolution)
No compatibility with absolute position
detection.

Driving servo Drive section

motor

Note 1. Use the HC-KFS series or HC-MFS series servo motor in the position detection section.
2. No compatibility with an absolute position detection system.

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 1. FUNCTIONS AND CONFIGURATION

MEMO

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 2. LINEAR SCALES

2 LINEAR SCALES

Contact the linear scale manufacturer for details of the linear scales such as the specifications,
performance and warranties.

2.1 Compatible linear scale list

Effective Absolute
Rated Speed Communication
Scale Type Manufacturer Model Resolution Measurement Position
(Note 1) System
Length (Maximum) System
AT343A 3000mm
ABS Mitutoyo 0.05 m 2.0m/s 2 wire type
AT543A 1500mm
type
Heidenhain LC491M 0.05 m 2.0m/s 2040mm 4 wire type
SL710
0.2 m
Mitsubishi serial Sony PL101R 6.4m/s 3000mm
(Note 2)
interface Precision MJ830 2 wire type
compatibility INC Technology SH13 0.005 m
1.4m/s 1240mm
type MJ830 (Note 2)
RGH26P 5.0 m 4.0m/s
Renishaw RGH26Q 1.0 m 3.2m/s 70000mm 2 wire type
RGH26R 0.5 m 1.6m/s
A/B/Z phase
differential output
Scale
(MR-CLP01 used) INC Scale
Not specified (Note 3) dependent Scale dependent 2 wire type
A/B/Z signal type dependent
(Note 4)
required
(Note 3)
Note 1. The upper limit value of the linear servo motor speed is the lower value of the maximum speed of the linear servo motor and the
rated speed of the linear scale.
2. Changes depending on the setting of the interpolator (MJ830: Sony Precision Technology make). Set the resolution within the
range of the minimum resolution to 5 m.
3. The phase difference between the A-phase pulse and B-phase pulse must be 500ns or more, and the Z-phase pulse width be
equivalent to one cycle of the A-phase pulse. Also, the Z phase must be synchronized with the A phase/B phase.

Phase difference between A phase and B phase: 500ns or more

A phase

B phase

One cycle of A phase

Z phase

4. The permissible resolution range is 0.005 to 5 m. Select the linear scale within this range.

[About handling of the linear scale]

If the linear scale is mounted improperly, for example, an alarm, position shift, etc. may occur.
In such cases, also check the mounting of the linear scale.
General check items of the linear scale
(a) Check that the gap between the head and scale is proper.
(b) Check the scale head for rolling and yawing (looseness of scale head section).
(c) Check the scale surface for contamination and scratches.
(d) Check that the vibration and temperature are within the operating range.
(e) Check that the speed is within the permissible range without overshooting.
For detailed check items, contact the linear scale manufacturer.

2- 1

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 2. LINEAR SCALES

2.1.1 Mitutoyo make linear scales (ABS type)

Specifications Reference
Contact Mitutoyo for the specifications of these linear scales.

Item Specifications
Model AT343A- AT543A-
System Capacitive, photoelectric, combined type
Effective measurement length 100 to 3000mm 100 to 1500mm
Resolution 0.05 m
100 to 1500mm: 3 3L/1000 m
100 to 1500mm: 3 3L/1000 m
Indication accuracy (20 ) 1600mm to 3000mm: 5 5L/1000 m
L: Effective measurement length
L: Effective measurement length
Supply power voltage 5V 5%
Current consumption Max.250mA Max.270mA
Rated response speed 2.0m/s
Maximum response speed 2.0m/s
Operating temperature range 0 to 45 (non-freezing) 0 to 50 (non-freezing)
Operating humidity range 20 to 80%RH (non-condensing)
Storage temperature range 20 to 70 (non-freezing)
Storage humidity range 20 to 80%RH (non-condensing)
IP53 or equivalent
Dust tightness water tightness
(in the indication method given in the instruction manual of the Mitutoyo make linear scale)
Vibration resistance 100m/s2 (55 to 2000Hz) 150m/s2 (55 to 2000Hz)
Shock resistance 150m/s2 (1/2sin, 11ms) 200m/s2 (1/2sin, 11ms)
Sliding force 5N or less
Output signal Serial communication compatibility
Mitutoyo make option Supplied as standard
Output cable
Part No. 09BAA598A to C:0.2, 2, 3m Head cable 5m output cable 1m
Refer to the standard connection example in Refer to the standard connection example in
Chapter 3 and fabricate the cable. Chapter 3 and fabricate the cable.

When the MR-J2SCLCBL02M-P-H is used, When the MR-J2SCLCBL02M-P-H is used,

Connection cable any of the following Mitsubishi cables can also any of the following Mitsubishi cables can also
(Mitsubishi option) be used (Note 1). be used (Note 1).
Output cable length 0.2m: MR-JCCBL2, 5, MR-JCCBL2, 5, 10M-H
10M-H
2m: MR-JCCBL2, 5M-H
3m: MR-JCCBL2M-H
Note 1. The MR-JCCBL M-L and MR-JCCBL20M-H and more (20m and more) cannot be used.
2. The battery (MR-BAT) is not required to configure an absolute position detection system.

Scale unit structure Reference

Home position

Mitutoyo AT343A

Output cable
Decreasing direction Increasing direction

Home position

Mitutoyo AT543A

Decreasing direction Increasing direction

Output cable Head cable

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 2. LINEAR SCALES

AT343A and AT543A mounting dimension tables Reference (Dimension unit: mm)
The following tables indicate L0 to L4 and number of mounting blocks or number of fixing holes in the
outline drawings shown on the next page.
Effective Maximum Mounting Number of Effective Maximum Mounting Number of
Full Full
Measurement Moving Block Fixing Mounting Measurement Moving Block Fixing Mounting
Model Length Model Length
Length Length Pitch Blocks Length Length Pitch Blocks
L2 L2
L0 L1 L3 L4 (pcs.) L0 L1 L3 L4 (pcs.)
AT343A- AT343A-
300 330 440 220 150 1300 1360 1470 735 325
300 1300
AT343A- AT343A-
350 380 490 245 175 1400 1460 1570 785 350
350 1400
AT343A- AT343A-
400 430 540 270 200 1500 1560 1670 835 375
400 1500
5
AT343A- AT343A-
450 480 590 295 225 1600 1690 1800 900 400
450 1600
AT343A- AT343A-
500 540 650 325 250 1700 1790 1900 950 425
500 1700
AT343A- AT343A-
600 650 760 380 300 3 1800 1890 2000 1000 450
600 1800
AT343A- AT343A-
700 760 870 435 350 2000 2100 2210 1105 335
700 2000
AT343A- AT343A-
750 810 920 460 375 2200 2300 2410 1205 370 7
750 2200
AT343A- AT343A-
800 860 970 485 400 2400 2500 2610 1305 400
800 2400
AT343A- AT343A-
900 960 1070 535 450 2500 2600 2710 1355 315
900 2500
AT343A- AT343A-
1000 1060 1170 585 500 2600 2700 2810 1405 325
1000 2600
9
AT343A- AT343A-
1100 1160 1270 635 275 2800 2900 3010 1505 350
1100 2800
5
AT343A- AT343A-
1200 1260 1370 685 300 3000 3050 3210 1605 375
1200 3000

Number of
Effective Maximum Number of Effective Maximum Mounting
Mounting Full Full Fixing
Measurement Moving Fixing Measurement Moving Hole
Model Hole Position Length Model Length Holes
Length Length Holes Length Length Position
L2 L3 L3 (n)
L0 L1 (n) (pcs.) L0 L1 L2
(pcs.)
AT543A- AT543A-
100 120 12.5 225 3 700 720 12.5 825 9
100 700
AT543A- AT543A-
150 170 37.5 275 3 750 770 37.5 875 9
150 750
AT543A- AT543A-
200 220 12.5 325 4 800 820 12.5 925 10
200 800
AT543A- AT543A-
250 270 37.5 375 4 900 920 12.5 1025 11
250 900
AT543A- AT543A-
300 320 12.5 425 5 1000 1020 12.5 1125 12
300 1000
AT543A- AT543A-
350 370 37.5 475 5 1100 1120 12.5 1225 13
350 1100
AT543A- AT543A-
400 420 12.5 525 6 1200 1220 12.5 1325 14
400 1200
AT543A- AT543A-
450 470 37.5 575 6 1300 1320 12.5 1425 15
450 1300
AT543A- AT543A-
500 520 12.5 625 7 1400 1420 12.5 1525 16
500 1400
AT543A- AT543A-
600 620 12.5 725 8 1500 1520 12.5 1625 17
600 1500

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 2. LINEAR SCALES

AT343A outline drawing Reference (Dimension unit: mm)

Effective measurement length 300mm to 3000mm
This outline drawing is based on the data from Mitutoyo. Contact Mitutoyo for this outline drawing.
Full length L2
Mounting block fixing pitch L3
0.2 G
Mounting block fixing pitch L4 Mounting block fixing pitch L4
32.5 Air supply port (M5) Mounting block
7 80 7
A (Provided at both ends) 8 Elastically fixing Completely Elastically
fixing area
23 60 0.2 area fixing area
2

7.5

15
15

Scale body mounting

surface

66 0.3

1.5 0.2
Detection head
50.5

mounting surface
95.5

X
29

(0.5)

12.6
8
7 Spot facing
11.6 depth 6.5 G: Machine guide
1.5 0.2 36
60 0.2
90
0.1 A
Effective measurement length L0
Maximum moving length L1
0.2 G
11 (hexagon)
Spot facing
depth 5

View X
2.5

Detection head Scale body mounting

mounting surface surface
Option (L = any of three different lengths, 0.2m, 2m, 3m)

The signal cable is optional.

(Part No.09BAA598A to C: 0.2m, 2m, 3m)
( 16)

Signal cable
(Vinyl sheathed) L (42)

AT543A outline drawing Reference (Dimension unit: mm)

This outline drawing is based on the data from Mitutoyo. Contact Mitutoyo for this outline drawing.
Scale unit mounting surface

23 (4.8) Full length: L3 (4.8)

A
15.5 Mounting hole pitch P 100mm (n 1)
Mounting hole position: L2
14
0.1 G le) Position where absolute value data is zero
Fixing screw: M4 0.8 Ho 0.1 G
(L = 18mm or more) 5( (Nearly at scale center) 4
n
8.5
30

45.2 0.2
43

AR
62
(1.5)

2 M6 1(through)
Air supply port (M5 0.8) 2 8 spot facing
1 0.1 22 depth 5(One side only)
(Provided on both sides) 60 0.2 Fixing screw: M4 0.8L = 20mm or more,
0.1A Effective measurement length: L0 or can be fixed with M6 screw from rear side.
Fixing screw: M4 0.8L = 18mm or more,
or can be fixed with M6 screw from rear side. Maximum moving length: L1 G: Machine guide
80
4.5 71 0.2
4.5

Scale unit
6.5

Head cable
31 0.2
(19.2)

(17)
40

(Vinyl sheath)
Output cable
(40) Waterproof connector
(Vinyl sheath)
Alarm display LED window 2 M6 1(through)

Interface unit
(19.6)

92
20
13.4

0.1G
84
0.03/100

Scale unit mounting surface

2- 4

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 2. LINEAR SCALES

Connection cable connection examples (1)

The following cable wiring examples assume that the linear scale is connected directly to CN2 of the servo
amplifier.

(1) Connection example of up to 5m wiring length (This connection example assumes that the following
operating combination is satisfied.)

[Operating combination]

Used Wire Size Scale Model Scale Side Output Cable Specifications
AWG24 AT343A Mitutoyo make output cable 2m
AWG24 AT543A Mitutoyo make output cable 1m

[Connection example]
10120-3000PE, 10320-52F0-008
(3M make or equivalent)
50m or less (2 wire type)
Servo amplifier
MR-J2S- B CN2 Servo motor
-PY096/S096
19 P5
12 LG
20 P5
Encoder

11 LG
7 MR (Note 3)
[Linear scale side connector] (Note 4)
17 MRR
172161-9 RDAD-15S-LNA
Applicable
1 LG (Tyco Electronics (Hirose Electric
Housing
or equivalent) or equivalent)
(Note 1)
RQ 1 7
/RQ 2 8
P5
Mitutoyo make linear scale

LG P5 ( 5V) 7 3, 4
6 MD RQ LG (0V) 8 1, 2
16 MDR /RQ FG 9 15
P5
LG

Plate SD (Note 2) FG

5m or less

Note 1. Do not connect the linear scale that is not indicated in this specification.
2. Connect the shield wire to the plate (ground plate) in the connector securely.
3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-
J2S- B standard model.
4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear scale side
output cable and connector.

2- 5

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 2. LINEAR SCALES

(2) Connection example of 5m to 30m wiring length (This connection example assumes that the following
operating combination is satisfied.)

[Operating combination]

Used Wire Size Scale Model Scale Side Output Cable Specifications
AWG24 AT343A Mitutoyo make output cable 0.2m
AWG22 AT543A Mitutoyo make output cable 1m

[Connection example]
The wiring length is up to 30m. Depending on the wiring length, however, the number of LG and P5
connections must be changed according to the following table.
10120-3000PE, 10320-52F0-008
(3M make or equivalent)
50m or less (2 wire type)
Servo amplifier
MR-J2S- B CN2 Servo motor
-PY096/S096
19 P5
12 LG Wiring Number of LG and
20 P5
Length P5 Connections
Encoder

11 LG
7 MR (Note 3) to 5m 2 parallel
17 MRR to 10m 4 parallel
to 15m 6 parallel
1 LG to 20m 8 parallel
to 25m 10 parallel
to 30m 12 parallel

(Note 1)
[Linear scale side connector] (Note 4)
P5 172161-9 RDAD-15S-LNA
Applicable
LG (Tyco Electronics (Hirose Electric or
6 MD RQ Housing
or equivalent) equivalent)
Mitutoyo make linear scale

16 MDR /RQ
RQ 1 7
P5
LG
/RQ 2 8
P5 ( 5V) 7 3, 4
LG (0V) 8 1, 2
FG 9 15

Plate SD (Note 2) FG

30m or less

Note 1. Do not connect the linear scale that is not indicated in this specification.
2. Connect the shield wire to the plate (ground plate) in the connector securely.
3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-
J2S- B standard model.
4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear scale side
output cable and connector.

2- 6

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 2. LINEAR SCALES

Connection cable connection examples (2)

The following cable wiring examples assume that the linear scale is connected to CN2 of the servo
amplifier using the option cable MR-J2SCLCBL02M-P-H.

(1) Connection example of up to 5m wiring length (This connection example assumes that the following
operating combination is satisfied.)

[Operating combination]

Used Wire Size Scale Model Scale Side Output Cable Specifications
AWG24 AT343A Mitutoyo make output cable 2m
AWG24 AT543A Mitutoyo make output cable 1m

[Connection example] [Linear scale side connector] (Note 4)

Option cable
Servo motor 172161-9
Servo amplifier
RDAD-15S-LNA
(MR-J2SCLCBL02M-P-H) Applicable (Tyco Electronics
MR-J2S- B (Hirose Electric or
-PY096/S096 To CN2 Housing or equivalent)
(Note 3) equivalent)
(Note 5)
Encoder

RQ 1 7
/RQ 2 8
P5 ( 5V) 7 3, 4
LG (0V) 8 1, 2
FG 9 15
10120-3000PE, 10320-52F0-008
(3M or equivalent)
Linear
scale (Note 1)
connector
19 P5 P5
Mitutoyo make linear scale

12 LG LG
7 MR RQ
17 MRR /RQ
20 P5 P5
11 LG LG

Plate SD (Note 2) FG

5m or less

Note 1. Do not connect the linear scale that is not indicated in this specification.
2. Connect the shield wire to the plate (ground plate) in the connector securely.
3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-
J2S- B standard model.
4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear scale side
output cable and connector.
5. When the MR-J2SCLCBL02M-P-H is used, the Mitsubishi option cable can be used as the linear scale connection cable.

Scale Side Output Mitsubishi Option Cable

Scale Model
Cable Length Model
0.2m MR-JCCBL2, 5, 10M-H
AT343A 2m MR-JCCBL2, 5M-H
3m MR-JCCBL2M-H
AT543A 1m MR-JCCBL2, 5, 10M-H

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 2. LINEAR SCALES

(2) Connection example of 5m to 30m wiring length (This connection example assumes that the following
operating combination is satisfied.)
[Operating combination]
Used Wire Size Scale Model Scale Side Output Cable Specifications
AWG24 AT343A Mitutoyo make output cable 0.2m
AWG22 AT543A Mitutoyo make output cable 1m
[Connection example]
The wiring length is up to 30m. Depending on the wiring length, however, the number of LG and P5
connections must be changed according to the following table.
Servo motor
Option cable
Servo amplifier (MR-J2SCLCBL02M-P-H)
MR-J2S- B
-PY096/S096 To CN2
(Note 3)

Encoder

10120-3000PE, 10320-52F0-008
(3M or equivalent)

Number of LG
Linear Wiring
scale (Note 1) and P5
connector Length
Connections
19 P5 P5 to 5m 2 parallel
12 LG LG to 10m 4 parallel
7 MR RQ to 15m 6 parallel
Mitutoyo make linear scale

17 MRR /RQ to 20m 8 parallel

20 P5 P5 to 25m 10 parallel
11 LG LG to 30m 12 parallel

Plate SD FG
(Note 2)
30m or less
[Linear scale side connector] (Note 4)
172161-9
RDAD-15S-LNA
Applicable (Tyco Electronics
(Hirose Electric or
Housing or equivalent)
equivalent)
(Note 5)
RQ 1 7
/RQ 2 8
P5 ( 5V) 7 3, 4
LG (0V) 8 1, 2
FG 9 15

Note 1. Do not connect the linear scale that is not indicated in this specification.
2. Connect the shield wire to the plate (ground plate) in the connector securely.
3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-
J2S- B standard model.
4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear scale side
output cable and connector.
5. When the MR-J2SCLCBL02M-P-H is used, the Mitsubishi option cable can be used as the linear scale connection cable.

Scale Model Scale Side Output Cable Length Mitsubishi Option Cable Model
0.2m MR-JCCBL2, 5, 10M-H
AT343A 2m MR-JCCBL2, 5M-H
3m MR-JCCBL2M-H
AT543A 1m MR-JCCBL2, 5, 10M-H

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 2. LINEAR SCALES

2.1.2 Heidenhain make linear encoder (linear scale) (ABS type) Scheduled to be compatible

Specifications Reference Scheduled to be compatible

Contact Heidenhain for the specifications of this linear encoder (linear scale).
Heidenhain Sales Section No. 2: TEL. (03) 3234-7781

Item Specifications
Model LC491M
System Photoelectric scanning system
Effective measurement length 70 to 2040mm
Resolution 0.05 m
5 m
Accuracy grade (20 )
3 m (up to effective measurement length 1240)
Supply power voltage 5V 5% on the linear encoder side
Current consumption Max.300mA
Rated response speed 2.0m/s
Maximum response speed 2.0m/s
Operating temperature range 0 to 50 (non-freezing) (Note 2)
Storage temperature range 20 to 70 (non-freezing)
IP53 (when mounted according to the manual of the Heidenhain make linear encoder)
Dust tightness water tightness
IP64 (when filled with compressed air)
100m/s2 (DINIEC 68-2-6) without mounting spur
Vibration resistance
150m/s2 (DINIEC 68-2-6) with mounting spur
Shock resistance 150m/s2 (DINIEC 68-2-6) (11ms)
Required feeding force 5N or less
Output signal Serial communication compatibility
Output cable 337 439 (17 pin coupling), 367 425 0 (20 pins), etc. (Note 1)
Connection cable Refer to the standard connection example in Chapter 3 and fabricate the cable.
Note 1. When the MR-J2SCLCBL02M-P-H is used, 367 425 (5m or less) can be connected directly.
2. The linear encoder (linear scale) is extremely sensitive to the operating temperature. When it exceeds 50 , an alarm may
occur. It is recommended to pay special attention to the operating temperature and secure the temperature change margins.
3. The battery (MR-BAT) is not required to configure an absolute position detection system.

Linear encoder (linear scale) unit structure Reference Scheduled to be compatible

Home position Decreasing direction Increasing direction

(With the housing section fixed)

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 2. LINEAR SCALES

LC491M outline drawing Reference Scheduled to be compatible (Dimension unit: mm)

This outline drawing is based on the data from Heidenhain. Contact Heidenhain for this outline drawing.

DIN ISO 8015

ISO 2768-m H

Mounting spur Without mounting spur

With mounting spur
Machine guide
Measurement point for adjustment
Dimensional tolerance for machine installation
Compressed air filling port
Measurement length starting point (pos. 20mm)

2 - 10

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 2. LINEAR SCALES

Connection cable connection examples (1)

The following cable wiring examples assume that the linear encoder (linear scale) is connected directly to
CN2 of the servo amplifier.

When the Heidenhain linear encoder (linear scale) is used, the

communication system is of 4 wire type.
CAUTION Change the setting of serial encoder cable selection (parameter No. 23) as
indicated below. If a wrong value is set, a servo alarm (alarm 70) occurs.
Pr.23 2 (4 wire type setting is made valid.)

(1) Connection example of up to 5m wiring length (This connection example assumes that the following
operating combination is satisfied.)

[Operating combination]

Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications
AWG22 LC491M Heidenhain make output cable 0.5m

[Connection example]
10120-3000PE, 10320-52F0-008
(3M make or equivalent)
50m or less (2 wire type)
Servo amplifier
MR-J2S- B CN2 Servo motor
-PY096/S096
19 P5
12 LG
20 P5 [Linear scale side connector] (Note 4)
Encoder

11 LG 17 Pin Coupling
7 MR (Note 3) Applicable 20 Pin Connector
291697-26 (Female)
17 MRR Housing (3M or equivalent)
(Heidenhain make)
SD 14 6
1 LG /SD 17 16
RQ 8 7
(Note 1)
/RQ 9 17
P5 5V 7 20
Heidenhain make linear encoder
(Linear encoder head section)

LG 0V 10 1
4 MD2 SD 5V/sensor 1 19
(linear scale)

14 MDR2 /SD 0V/sensor 4 11

6 MD RQ
16 MDR /RQ
5V/sensor

0V/sensor

Plate SD (Note 2) FG

5m or less

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.
2. Connect the shield wire to the plate (ground plate) in the connector securely.
3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of
the MR-J2S- B standard model.
4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear
encoder (linear scale) side output cable and connector.

2 - 11

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 2. LINEAR SCALES

(2) Connection example of 5m to 30m wiring length (This connection example assumes that the following
operating combination is satisfied.)
[Operating combination]
Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications
AWG22 LC491M Heidenhain make output cable 0.5m

[Connection example]
The wiring length is up to 30m. Depending on the wiring length, however, the number of LG and P5
connections must be changed according to the following table.
10120-3000PE, 10320-52F0-008
(3M make or equivalent)
50m or less (2 wire type)
Servo amplifier
MR-J2S- B CN2 Servo motor
-PY096/S096
19 P5
12 LG
20 P5 Wiring Number of LG and
11 LG Encoder Length P5 Connections
7 MR (Note 3) to 5m 2 parallel
17 MRR to 10m 4 parallel
to 15m 6 parallel
1 LG
to 20m 8 parallel
to 25m 10 parallel
to 30m 12 parallel

(Note 1)

P5
LG
Heidenhain make linear encoder (linear scale)

4 MD2 SD [Linear scale side connector] (Note 4)

14 MDR2 /SD Applicable 17 Pin Coupling 20 Pin Connector
(Linear encoder head section)

6 MD RQ Housing 291697-26 (Female) (3M or equivalent)

16 MDR /RQ (Heidenhain make)
5V/sensor SD 14 6
0V/sensor /SD 17 16
RQ 8 7
/RQ 9 17
5V 7 20
0V 10 1
5V/sensor 1 19
0V/sensor 4 11
Plate SD (Note 2) FG

30m or less

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.
2. Connect the shield wire to the plate (ground plate) in the connector securely.
3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-
J2S- B standard model.
4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder
(linear scale) side output cable and connector.

2 - 12

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 2. LINEAR SCALES

Connection cable connection examples (2)

The following cable wiring examples assume that the linear encoder (linear scale) is connected to CN2 of
the servo amplifier using the option cable MR-J2SCLCBL02M-P-H.

(1) Connection example of up to 5m wiring length (This connection example assumes that the following
operating combination is satisfied.)

[Operating combination]

Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications
AWG22 LC491M Heidenhain make output cable 0.5m

[Connection example]
Servo motor
Option cable
Servo amplifier (MR-J2SCLCBL02M-P-H)
MR-J2S- B
-PY096/S096 To CN2
(Note 3) Encoder

10120-3000PE, 10320-52F0-52F0-008
(3M or equivalent)
Linear
(Note 1)
scale
connector

19 P5 P5
Heidenhain make linear encoder
(Linear encoder head section)

12 LG LG
6 MD SD
(linear scale)

16 MDR /SD
7 MR RQ
17 MRR /RQ
5V/sensor
20 P5
0V/sensor
11 LG
Plate SD FG
(Note 2)

5m or less

[Linear scale side connector] (Note 4)

17 Pin Coupling 20 Pin Connector
Applicable
291697-26 (Female) (Note 5)
Housing
(Heidenhain make) (3M or equivalent)
SD 14 6
/SD 17 16
RQ 8 7
/RQ 9 17
5V 7 20
0V 10 1
5V/sensor 1 19
0V/sensor 4 11

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.
2. Connect the shield wire to the plate (ground plate) in the connector securely.
3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-
J2S- B standard model.
4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder
(linear scale) side output cable and connector.
5. Can be connected directly when the MR-J2SCLCBL02M-P-H is used.
2 - 13

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 2. LINEAR SCALES

(2) Connection example of 5m to 30m wiring length (This connection example assumes that the following
operating combination is satisfied.)
[Operating combination]
Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications
AWG22 LC491M Heidenhain make output cable 0.5m
[Connection example]
The wiring length is up to 30m. Depending on the wiring length, however, the number of LG and P5
connections must be changed according to the following table.
Servo motor
Option cable
Servo amplifier (MR-J2SCLCBL02M-P-H)
MR-J2S- B
-PY096/S096 To CN2
(Note 3)

Encoder

10120-3000PE, 10320-52F0-008
(3M or equivalent)

Linear
(Note 1)
scale
connector Wiring Number of LG and
19 P5 P5 Length P5 Connections
12 LG LG to 5m 2 parallel
Heidenhain make linear encoder (linear scale)

6 MD SD to 10m 4 parallel
16 MDR /SD to 15m 6 parallel
(Linear encoder head section)

7 MR RQ to 20m 8 parallel
17 MRR /RQ to 25m 10 parallel
5V/sensor
20 P5 to 30m 12 parallel
0V/sensor
11 LG

Plate SD FG
(Note 2)
30m or less
[Linear scale side connector] (Note 4)
Applicable 17 Pin Coupling 20 Pin Connector
Housing 291697-26 (Female) (Note 5)
(Heidenhain make) (3M or equivalent)
SD 14 6
/SD 17 16
RQ 8 7
/RQ 9 17
5V 7 20
0V 10 1
5V/sensor 1 19
0V/sensor 4 11

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.
2. Connect the shield wire to the plate (ground plate) in the connector securely.
3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-
J2S- B standard model.
4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder
(linear scale) side output cable and connector.
5. Can be connected directly when the MR-J2SCLCBL02M-P-H is used.

2 - 14

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 2. LINEAR SCALES

2.1.3 Renishaw make linear encoders (linear scales) (INC type)

Specifications Reference
Contact Renishaw for the specifications of these linear encoders (linear scales).
Renishaw Encoder Section: TEL. (03) 5332-6023

Item Specifications
Model RGH26P RGH26Q RGH26R
System Optical system
Effective measurement length Maximum length 70000mm
Resolution 5 m 1 m 0.5 m
Accuracy (20 ) 3 m/m (when compensation is made between two points)
Supply power voltage 5V 5%
Current consumption Max.230mA
Rated response speed (Note 1) 4.0m/s 3.2m/s 1.6m/s
Maximum response speed 5.0m/s 4.0m/s 2.0m/s
Operating temperature range 0 to 55 (non-freezing)
Operating humidity range 10 to 90%RH (non-condensing)
Storage temperature range 20 to 70 (non-freezing)
Dust tightness water tightness IP50
Vibration resistance 100m/s2 (55 to 2000HZ)
Shock resistance 1000m/s2 (1/2sin, 11ms)
Serial communication compatibility
Output signal
(Z phase data included, serial communication of reference mark data is also is made) (Note 3)
Output cable Renishaw make N-15 PIN Dtype Dtype plug (0.5m)
Connection cable Refer to the standard connection example in Chapter 3 and fabricate the cable.
Note 1. Use at the rated speed or less.
2. A limit switch signal cannot be imported directly to the servo amplifier. When using a limit switch, use a photocoupler for
isolation.
3. A home position return cannot be made if there is no encoder (scale) home position (reference mark). Always provide an
encoder (scale) home position (reference mark).

Linear encoder (linear scale) unit structure Reference

RENISHAW
RGH26

Increasing direction Decreasing direction

Note 1. Always set an encoder (scale) home position (reference mark).

2 - 15

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 2. LINEAR SCALES

RGH26P, RGH26Q, RGH26R outline drawing Reference (Dimension unit: mm)

This outline drawing is based on the data from Renishaw. Contact Renishaw for this outline drawing.

Dynamic bending radius R50

Reference mark actuator Static bending radius R10
Reference mark sensor position 17
Optical center Mounting 16
6 minimum (Roll tolerance 1.0 )
M3 0.5, two 9.5 deep holes surface
11.6
22 Setup 0.13
LED
(Yaw tolerance 0.5 )
14 3
4 0.38
7
9
14.5 23.5 15.5
6
13 27
10.5
P limit switch
Mount it with the white point 3
directed toward the machine 10 7.6
stock side. Mount the Q
(Size is the same as that of 14.6 14.6 limit switch with Mounting surface
the Q limit switch.) the white point up. range
P limit sensor position M3 0.5, two 7.5 Selectable mounting
44 deep holes surface
3 38 Q limit sensor position
The arrow indicates the
forward moving direction
of the read head relative (Pitch tolerance 1.0 )
to the scale. 4.7 0.8
5
10.6 2.2 2
0.8 0.1

Scale mounting surface Clearance detail

2 - 16

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 2. LINEAR SCALES

Connection cable connection examples (1)

The following cable wiring examples assume that the linear encoder (linear scale) is connected directly to
CN2 of the servo amplifier.

(1) Connection example of up to 5m wiring length (This connection example assumes that the following
operating combination is satisfied.)

[Operating combination]

Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications
AWG22 RGH26 Renishaw make output cable 0.5m

[Connection example]
10120-3000PE, 10320-52F0-008
(3M make or equivalent)
50m or less (2 wire type)
Servo amplifier
MR-J2S- B CN2 Servo motor
-PY096/S096
19 P5
12 LG
20 P5
Encoder

11 LG
7 MR (Note 3)

17 MRR

Renishaw make
1 LG
linear encoder (linear scale)
(Note 1)

5V
P5
Renishaw make linear encoder

LG
6 MD MR Photocoupler
16 MDR MRR /P, /Q
(linear scale)

isolation
P5
LG
0V
Inner
/P
/Q
Plate SD (Note 2) SD
(Note 5)
Limit switch output (Note 4)

5m or less

[Linear encoder side connector] (Note 6)

Applicable D Sub 15 Pin Female
Housing Equivalent
Inner 15
P5 7, 8
LG 2, 9
MR 10
MRR 1
SD Case

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.
2. Connect the shield wire to the plate (ground plate) in the connector securely.
3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-
J2S- B standard model.
4. A limit switch signal cannot be imported directly to the servo amplifier. When using a limit switch, use a photocoupler for
isolation as shown above. Contact the scale manufacturer for detailed specifications of the limit switch.
5. The encoder (scale) home position (reference mark) data is sent to the servo amplifier by serial communication.
6. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder
(linear scale) side output cable and connector.

2 - 17

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 2. LINEAR SCALES

(2) Connection example of 5m to 30m wiring length (This connection example assumes that the following
operating combination is satisfied.)
[Operating combination]
Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications
AWG22 RGH26 Renishaw make output cable 0.5m
[Connection example]
The wiring length is up to 30m. Depending on the wiring length, however, the number of LG and P5
connections must be changed according to the following table.
10120-3000PE, 10320-52F0-008
(3M make or equivalent)
50m or less (2 wire type)
Servo amplifier
MR-J2S- B CN2 Servo motor
-PY096/S096
19 P5
12 LG
20 P5

Encoder
11 LG
7 MR (Note 3)

17 MRR

1 LG Wiring Number of LG and P5

Length Connections
to 5m 2 parallel
to 10m 3 parallel
to 15m 4 parallel
(Note 1)
to 20m 5 parallel
P5 to 25m 6 parallel
LG to 30m 7 parallel
6 MD MR
Renishaw make linear encoder

16 MDR MRR
P5 Renishaw make
(linear scale) (Note 5)

LG linear encoder (linear scale)

Inner
5V

Photocoupler
/P
/P, /Q
/Q isolation
Plate SD (Note 2) SD
(Note 5) 0V
Limit switch output (Note 4)

30m or less

[Linear encoder side connector] (Note 6)

Applicable D Sub 15 Pin Female
Housing Equivalent
Inner 15
P5 7, 8
LG 2, 9
MR 10
MRR 1
SD Case

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.
2. Connect the shield wire to the plate (ground plate) in the connector securely.
3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-
J2S- B standard model.
4. A limit switch signal cannot be imported directly to the servo amplifier. When using a limit switch, use a photocoupler for
isolation as shown above. Contact the scale manufacturer for detailed specifications of the limit switch.
5. The encoder (scale) home position (reference mark) data is sent to the servo amplifier by serial communication.
6. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder
(linear scale) side output cable and connector.
2 - 18

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 2. LINEAR SCALES

Connection cable connection examples (2)

The following cable wiring examples assume that the linear encoder (linear scale) is connected to CN2 of
the servo amplifier using the option cable MR-J2SCLCBL02M-P-H.

(1) Connection example of up to 5m wiring length (This connection example assumes that the following
operating combination is satisfied.)

[Operating combination]

Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications
AWG22 RGH26 Renishaw make output cable 0.5m

[Connection example]
Servo motor
Option cable
Servo amplifier (MR-J2SCLCBL02M-P-H)
MR-J2S- B
-PY096/S096 To CN2
(Note 3)
Encoder

10120-3000PE, 10320-52F0-008
(3M or equivalent)
Linear
(Note 1)
scale
connector

19 P5 P5
Renishaw make linear encoder

12 LG LG
7 MR MR
17 MRR MRR
(linear scale)

20 P5 P5
11 LG LG
Inner
/P
/Q
Plate SD (Note 2) SD
(Note 5)
Limit switch output (Note 4)

Renishaw make
5m or less
linear encoder (linear scale)
[Linear encoder side connector] (Note 6)
5V
Applicable D Sub 15 Pin Female
Housing Equivalent
Inner 15
P5 7, 8 Photocoupler
/P, /Q
LG 2, 9 isolation
MR 10
MRR 1 0V

SD Case

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.
2. Connect the shield wire to the plate (ground plate) in the connector securely.
3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-
J2S- B standard model.
4. A limit switch signal cannot be imported directly to the servo amplifier. When using a limit switch, use a photocoupler for
isolation as shown above. Contact the scale manufacturer for detailed specifications of the limit switch.
5. The encoder (scale) home position (reference mark) data is sent to the servo amplifier by serial communication.
6. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder
(linear scale) side output cable and connector.
2 - 19

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 2. LINEAR SCALES

(2) Connection example of 5m to 30m wiring length (This connection example assumes that the following
operating combination is satisfied.)
[Operating combination]
Used Wire Size Encoder (Scale) Model Encoder (Scale) Side Output Cable Specifications
AWG22 RGH26 Renishaw make output cable 0.5m
[Connection example]
The wiring length is up to 30m. Depending on the wiring length, however, the number of LG and P5
connections must be changed according to the following table.
Servo motor
Option cable
Servo amplifier (MR-J2SCLCBL02H-P-H)
MR-J2S- B
-PY096/S096 To CN2 (Note 3)

Encoder

10120-3000PE, 10320-52F0-008
(3M or equivalent)

Linear
(Note 1)
scale
connector
Wiring Number of LG and
19 P5 P5
Length P5 Connections
12 LG LG
Renishaw make linear encoder (linear scale)

to 5m 2 parallel
7 MR MR
to 10m 3 parallel
17 MRR MRR
tob15m 4 parallel
20 P5 P5
to 20m 5 parallel
11 LG LG
to 25m 6 parallel
Inner
to 30m 7 parallel

/P
/Q
Plate SD SD
(Note 2)
(Note 5)
Limit switch output (Note 4) Renishaw make
linear encoder (linear scale)
30m or less
5V
[Linear encoder side connector] (Note 6)
Applicable D Sub 15 Pin Female
Housing Equivalent
Inner 15 Photocoupler
P5 7, 8 /P, /Q
LG 2, 9 isolation
MR 10
MRR 1 0V
SD Case

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.
2. Connect the shield wire to the plate (ground plate) in the connector securely.
3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-
J2S- B standard model.
4. A limit switch signal cannot be imported directly to the servo amplifier. When using a limit switch, use a photocoupler for
isolation as shown above. Contact the scale manufacturer for detailed specifications of the limit switch.
5. The encoder (scale) home position (reference mark) data is sent to the servo amplifier by serial communication.
6. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder
(linear scale) side output cable and connector.

2 - 20

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 2. LINEAR SCALES

2.1.4 Sony precision technology make linear encoders (linear scales) (INC type)

Specifications Reference
Contact Sony Precision Technology for the specifications of these linear encoders (linear scales).
Sony Precision Technology Sales Section: TEL. (03) 3490-3915
Item Specifications
Interpolator model MJ830
Linear encoder model SL710 PL101R (H)
System Magnetic detection system
Effective measurement length 50 to 3000mm
Resolution Min. 0.2 m (Note 2)
Accuracy 10 m
Supply power voltage 5V (4.5 to 5.5V) (Note 1)
Power consumption Max.3W
Rated response speed 6.4 m/s
Maximum response speed 6.4 m/s
Operating temperature range 0 to 55 (non-freezing) 0 to 45 (non-freezing)
Storage temperature range 20 to 65 (non-freezing) 20 to 50 (non-freezing)
Dust tightness water tightness No protective structure IP50 (PL101R), IP64 (PL101RH)
Vibration resistance 9.6m/s2 5 to 800Hz 20m/s2 50 to 2000Hz
Shock resistance 980m/s2 11ms 980m/s2 11ms
Output signal Serial communication compatibility (Z phase data included)
Output extension cable CK-T1
Refer to the standard connection example
Connection cable
in Chapter 3 and fabricate the cable.

Item Specifications
Interpolator model MJ830
Linear encoder model SH13
System Optical detection system
Effective measurement length 70 to 1240mm
Resolution Min. 0.005 m (Note 2)
3 m A3 type
Accuracy
5 m A5 type
Supply power voltage 5V (4.5 to 5.5V) (Note 1)
Power consumption Max. 3W
Rated response speed 1.4m/s
Maximum response speed 2.0m/s
Operating temperature range 0 to 55 (non-freezing) 0 to 45 (non-freezing)
Storage temperature range 20 to 65 (non-freezing) 10 to 60 (non-freezing)
IP53
(in accordance with the mounting in the
Dust tightness water tightness No protective structure
manual of the Sony Precision Technology make
linear encoder)
Vibration resistance 9.6m/s2 5 to 800Hz 98m/s2 (30 to 1000Hz, 30 minutes)
294m/s2 (11ms, three directions XYZ,
Shock resistance 980m/s2 11ms
three times each)
Output signal Serial communication compatibility (Z phase data included) (Note 3)
Output extension cable CR4-05NNT0 , CR4-10NNT01 (10m)
Refer to the standard connection example
Connection cable
in Chapter 3 and fabricate the cable.
Note 1. For the 24V-specified interpolator, contact Sony Precision Technology.
2. Changes depending on the setting of the interpolator.
3. A home position return cannot be made if there is no encoder (scale) home position (reference mark). Always provide an
encoder (scale) home position (reference mark).

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 2. LINEAR SCALES

Linear encoder (linear scale) unit structure Reference

[When interpolator (MJ830) MODE switch = 5]

When PL101 or SL700 is used

SONY SL700 SONY

PL101R

Increasing direction Decreasing direction

When SH13 is used

SH13

Decreasing direction Increasing direction

Note 1. Note that the increasing direction/decreasing direction of the linear encoder (linear scale) changes depending on the setting of
the interpolator (MJ830).
2. Always set an encoder (scale) home position (reference mark).

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 2. LINEAR SCALES

SL710 outline drawing Reference (Dimension unit: mm)

This outline drawing is based on the data from Sony Precision Technology. Contact Sony Precision
Technology for this outline drawing.
Mount the scale on a non-magnetic material.
When mounting it on a magnetic material, provide n - D reamed hole
a non-magnetic layer of 3mm or more. (For D parallel pin insertion)

9
SL710
D/2

0.05
P 200

25
12
P (n - 1 or 2) ML - P (n - 1) 200
20 Effective measurement length (ML) (20)
Full length = effective measurement length + 40

PL101 outline drawing Reference (Dimension unit: mm)

This outline drawing is based on the data from Sony Precision Technology. Contact Sony Precision
Technology for this outline drawing.

<PL101-RH (IP67 type)> <PL101-N/PL101-R (IP50 type)>

Offset

Offset
9

0.2 9
0.2
25

25
12
12

20 Effective measurement length (ML) (20) 20 Effective measurement length (ML) (20)
Full length = effective measurement length + 40 Full length = effective measurement length + 40
1.5
48 11.5 Cable length: 3000mm 48 Cable length: 3000mm
Clearance

Clearance

Pitch Pitch
Roll Roll
0.15

0.15
12

12
6

43.5 Center mark 43.5 Center mark

2 2 - M3 depth 5 2 2 - M3 depth 5

SH13 outline drawing Reference (Dimension unit: mm)

This outline drawing is based on the data from Sony Precision Technology. Contact Sony Precision
Technology for this outline drawing.
Scale full length = L + 105 21
5.5 Scale mounting hole pitch = L + 94 (5.5) Air intake (M5) 10.5
Middle support mounting (n - 1) P1 Middle support mounting Depth 5
position = A position = A
19
26

35
43.5

26 Middle support A
15

Home position mark Middle support B

0.3

10
4 26.513

2 - 5, 8.2 spot facing

2.5

SONY 5
depth 5

2 (20) Head cable length = 1000 (25) 43.5

4.6
8

7.5
13

12 56 12 Scanning unit
19

80 Middle support B mounting side face

40 Z Home position 22
Effective measurement length = L 56
5 6
Left side measurement end Right side measurement end
M4 (depth 10)
5.8

3
4.5

20
6

Middle support A mounting side face

12

3 74 3 M4 (depth 10)
3

SH13- 007 012 017 022 027 032 037 042 047 052 057 062 067 072 077 082 092 102 114 124
Effective measurement length L mm 70 120 170 220 270 320 370 420 470 520 570 620 670 720 770 820 920 1020 1140 1240
Middle support n 1 1 1 1 1 1 1 1 2 2 2
Middle support mounting A mm 307 332 357 382 407 432 457 507 380 420 450
hole pitch P1 mm 354 394 434
Home position Z mm 35 60 85 110 135 160 185 210 235 260 285 310 335 360 385 410 460 510 570 620

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 2. LINEAR SCALES

MJ830 outline drawing Reference (Dimension unit: mm)

This outline drawing is based on the data from Sony Precision Technology. Contact Sony Precision
Technology for this outline drawing.
26
93 (13) 13
1 4.5 mounting hole 3
(115)
100

138
124

4.5

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 2. LINEAR SCALES

Connection cable connection example (1)

The following cable wiring example assumes that the linear encoder (linear scale) is connected directly to
CN2 of the servo amplifier.

(1) Connection example of up to 30m wiring length (This connection example assumes that the following
operating combination is satisfied.)

[Operating combination]

Used Wire Size Interpolator Model

AWG28 MJ830

[Connection example]
10120-3000PE, 10320-52F0-008
(3M make or equivalent)
50m or less (2 wire type)
Servo amplifier
MR-J2S- B CN2 Servo motor
-PY096/S096
19 P5
12 LG
20 P5
Encoder

11 LG
7 MR (Note 3)

17 MRR

1 LG

(Note 1)

LG
Sony Precision Technology make
Technology make

linear encoder (linear scale)

Sony Precision

LG
interpolator

6 MD MR
16 MDR MRR
Plate SD (Note 2) SHD

30m or less

Stabilized
power supply
(5V)

[Linear encoder side connector] (Note 4)

Applicable 10114-3000PE, 10314-52F0-008
Housing 3M or Equivalent
OV 11, 12
MR 4
MRR 5
SHD 7

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.
2. Connect the shield wire to the plate (ground plate) in the connector securely.
3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-
J2S- B standard model.
4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder
(linear scale) side output cable and connector.

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 2. LINEAR SCALES

Connection cable connection example (2)

The following cable wiring example assumes that the linear encoder (linear scale) is connected to CN2 of
the servo amplifier using the option cable MR-J2SCLCBL02M-P-H.

(1) Connection example of up to 30m wiring length (This connection example assumes that the following
operating combination is satisfied.)

[Operating combination]

Used Wire Size Interpolator Model

AWG28 MJ830

[Connection example]
Servo motor
Option cable
Servo amplifier (MR-J2SCLCBL02M-P-H)
MR-J2S- B
-PY096/S096 To CN2
(Note 3)
Encoder

10120-3000PE, 10320-52F0-008
(3M make or equivalent)
Linear
scale (Note 1)
connector
LG
Sony Precision Technology make
12 LG
Technology make

linear encoder (linear scale)

Sony Precision

11 LG LG
interpolator

7 MR MR
17 MRR MRR
Plate SD (Note 2) SHD

30m or less

Stabilized
[Linear encoder side connector] (Note 4) power supply
(5V)
Applicable 10114-3000PE, 10314-52F0-008
Housing 3M or Equivalent
OV 11, 12
MR 4
MRR 5
SHD 7

Note 1. Do not connect the linear encoder (linear scale) that is not indicated in this specification.
2. Connect the shield wire to the plate (ground plate) in the connector securely.
3. For the wiring to the servo motor, refer to the standard connection examples in Chapter 3 and the Instruction Manual of the MR-
J2S- B standard model.
4. Contact the scale manufacturer for detailed specifications such as the combinations, models, types, etc. of the linear encoder
(linear scale) side output cable and connector.

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 2. LINEAR SCALES

2.2 A B Z-phase differential input interface unit specifications

Contact the linear scale manufacturer for the specifications of the A/B/Z-phase differential output linear
scale. (Since the permissible resolution range is 0.005 to 5 m, select the linear scale within this range.)

Specifications

Item Description
Model MR-J2S-CLP01
Permissible
voltage DC4.85 to 5.25V
Power
fluctuation
supply
Current 200mA (when power is supplied from servo amplifier)
consumption 250mA (when power is supplied from external power supply) (Note 1)
Input signal A B Z-phase differential input signal
Minimum phase
500ns
difference
Output signal High-speed serial communication (Z phase data included)
Structure Open (IP00)
Ambient
0 to 55 (non-freezing)
temperature
Storage
20 to 65 (non-freezing)
temperature
Environment

Ambient
90%RH or less (non-condensing)
humidity
Storage
90%RH or less (non-condensing)
humidity
Indoors (no direct sunlight)
Ambience
Without corrosive gas, flammable gas, oil mist, dust and dirt
Altitude 1000m or less above sea level
Vibration 5.9m/s2 or less
Weight 0.4kg
Note 1. The power supply of the linear scale is not included. When an external power supply is used, an up to 350mA linear
scale can be used.

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 2. LINEAR SCALES

MR-J2S-CLP01 outline drawing

[Unit: mm]
(75) 90

6 hole 1.6
6
168

156

R3

Terminal layout
TE1 P5L
Model Weight [kg]
P50
MR-J2S-CLP01 0.4

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 2. LINEAR SCALES

Connection cable connection example (Note 1, 5)

10120-3000PE, 10320-52F0-008 A B Z-phase 10114-3000PE, 10314-52F0-008

(3M make or equivalent) differential input (3M make or equivalent)
Servo
amplifier interface unit
MR-J2S- MR-J2S-CLP01
(Note 6)
CN2 CN2 CN1A
LG LG 1 P5L 5V

A/B/Z-phase differential output linear

1 14
19 P5 P5 19 1 LG 0V
7 MR MR 7 2 LA A phase
17 (Note 4)
17 MRR MRR 3 LAR
11 LG LG 11 4 LB B phase
20 P5 P5 20 (Note 4)
5 LBR
Plate SD SD Plate 6 LZ Z phase
(Note 2, 4)
ﾄ (Note 7) 7 LZR
8 (LAL) (Alarm)
(Note 6) P5L (Note 3, 4)
9 (LALR)
Connection cable (Note10,11)
P5G Shield
Plate SD
MR-J2HBUS05M or MR-J2HBUS1M PE (Note 8, 9)
(Note 7)
Note 1. The A/B/Z-phase differential input interface unit is required to use the A B Z-phase differential output linear scale.
2. If there is no Z phase, an alarm occurs and operation cannot be performed.
3. If there is no alarm output, change the setting of the following servo amplifier parameter.
Pr.62 0
4. The A-phase, B-phase, Z-phase and alarm signals must be provided as differential line driver outputs.
Linear scale LA
LA, LB, LZ, LAL LAR
Phase difference 500ns or
more
AM26LS31 or LAR, LBR, LZR, LALR LB
equivalent
LBR
1 pulse of Z phase = 1 cycle of A phase

LZ

LZR
1 s or more at alarm occurrence

LAL

LALR

5. Set the internal setting switch (SW1) to CLOSE.

LINEAR

SW1

CLOSE

6. If the current consumption of the linear scale exceeds 150mA, supply external power.
7. Connect the shield wire to the plate (ground plate) in the connector securely.
8. Use a cable that can endure bending motion for a long time.
9. Because of RS-422 communication, the cable length is maximum 30m. However, it may be necessary to shorten the length
depending on the power supply voltage drop and linear scale specifications.
10. As the connection cable, use the MR-J2HBUS05M or MR-J2HBUS1M.
11. When a connection cable is to be fabricated, the cable length should be within 1m.

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 2. LINEAR SCALES

MEMO

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 3. SIGNALS AND WIRING

3 SIGNALS AND WIRING

3.1 Standard connection examples of full closed control servo amplifier control signals
(1) When MR-J2S-CLP01 is used
Configure a sequence that will turn off Servo amplifier Motor
MC at an alarm or emergency stop. MR-J2S- B HC-KFS, MFS,
-PY096/-S096 UFS3000r/min series
NFB MC (Axis 1)
Power supply
TE1 U
Three-phase 200 to L1 U 1
230VAC or single-phase V SM
100VAC/single-phase L2 V 2
W
230VAC (Note 13) L3 W 3
If the regenerative option is
connected incorrectly, the servo
amplifier is damaged. L11 4
B1
In the case of MR-J2S-500B/700B
L21 5
Configure a sequence that will
turn off MC at an alarm or
Servo amplifier 24VDC RA1
A Z B2
emergency stop. MR-J2S- B-S096
TE2 6
NFB MC Regenerative P EM1 (Note 4)
TE1 Electromagnetic
L1
option A B Z-phase differential Shut off when servo-on brake
When connecting an external
L2 regenerative option, always C input interface unit signal turns off or alarm
L3
disconnect the link from MR-J2S-CLP01 signal turns on.
across P-D.
C
When connecting an external D CN1 A
P regenerative option, always
Regenerative
disconnect the link from across C-P. 1 LG
N
option Set SW1 to CLOSE 2 LA General-purpose
L11 linear scale or
L21
CLOSE. 3 LAR rotary encoder

4 LB (A B Z-phase
CN2

CN2
differential output
5 LBR type)
(Note 12) MR-J2HBUS M (Note 12) 6
Controller LZ
cable
7 LZR Connect the MR-HP4CN1
CN1A

A171SH Use 1m or less. connector to the CN1A

(Note 12) LAL
A172SH Use the MR-J2HBUS M-A cable with the
8 connector.
7 P5 7 P5
A173UH Cable A171SH,A172SH, A173UH or A273UH, and
9 LALR
A273UH the MR-J2HBUS M cable with the QD75M. 8 LG 8 LG
clamp (Note 1)
14 P5L
QD75M Refer to the "Motion Controller Q Series Catalog" 1 MR 1 MR

Encoder
Q172 for the cable between Q172/Q173 and amplifier, Plate SD
and to the "Position Board, Interface Board New
(Note 8)
2 MRR 2 MRR
Q173
CN1B

Product News (SV0206-1)" for the cable between

Position Board Position Board and amplifier. (Note 12) 4 MD 4 MD
(Note 12) MR-JCCBL M-H cable or 5 MDR 5 MDR
Note RS-232C MR-JCCBL M-L cable
1. Use the MR-J2HBUS M-A or MR-J2HBUS M cable within the overall
CN3 Use 30m or less. 3 BAT 3 BAT
length of 30m. To improve noise immunity, it is recommended to use a 12 Tx D RD 9 SD 9 SD
cable clamp and data line filters (connect 3 or 4 pcs. in series) near the GND
connector lead-out area. 11 LG 6 CNT 6 CNT
2. The motor side connections of the second axis and later are omitted. SD Commercially available
2 Rx D personal computer
3. Up to eight axes (n = 0 to 7) can be connected. GND
The MR-H BN type servo can also be connected to the same bus. 1 LG Windows
(Note that the cable differs.) (Note 9)
4. In this example, the motor is equipped with an electromagnetic brake. 15m or less
The power supply connected to the electromagnetic brake is irrelevant
to the polarity. The HC-SFS121 to 301, 202 to 702, 203, 353 and (Note 7)
HC-UFS202 to 502 use different connectors.
20 EM1 Forced stop
EMG
5. Connect the shield wire to the plate (ground plate) in the connector 3 SG 10m or less
securely.
6. Connect the diode in the correct orientation. If it is connected oppositely, (Note 6)
Electromagnetic
the amplifier will fail and signals will not be output. 13 MBR RA1 brake interlock
7. A forced stop of the corresponding axis servo amplifier alone.
Use it as necessary when the QD75M, Q172, Q173 or Position Board is 5 COM (Note 10) When not using the external power supply,
connected. Do not use it when any of the A171SH, A172SH, A173UH Motor
and A273UH is connected.
10 VDD always connect VDD-COM.
HC-SFS, RFS,
Max. +1mA meter MR-J2S- B
When this signal is not used, short EM1-SG within the connector. Zero-center ( 10V output) -PY096/-S096 UFS2000r/min series
Make an emergency stop of the whole system on the controller side. A U
A forced stop input can be made invalid using parameter No. 23. 4 MO1 Monitor output 1 U A
(Note 11) V
8. For details, refer to the "MR-J2S-B Instruction Manual" and 1 LG V B
10k W SM
"MR-J2S-CLP01 Installation Guide". W C
9. Always use a shielded multi-core cable. Up to 15m is allowed in noise- 14 MO2 A
Monitor output 2
D
free environment. However, the cable length should be within 3m when
38,400bps or more baud rate is set for RS-232C communication. 11 LG 10k

10. When using an external power supply, do not connect VDD-COM.

11. When the personal computer is connected simultaneously with analog B1
monitor output 1 (MO1) or analog monitor output 2 (MO2), use the 6 LA Encoder A-phase pulse
24VDC
G
(Differential line driver) RA1 Z
H
maintenance relay card (MR-J2CN3TM). 16 LAR
12. CN1A, CN1B, CN2 and CN3 have the same shape. Incorrect EM1 B2 (Note 4)
connection of the connector can cause a failure. 7 LB Encoder B-phase pulse Shut off when servo-on
Electromagnetic
(Differential line driver) brake
13. In the case of single-phase 100VAC (MR-J2S-40B1-PY096 or less) or LBR signal turns off or alarm
17
single-phase 230VAC (MR-J2S-70B-PY096 or less), connect the signal turns on.
power supply to the L1, L2 terminals and keep L3 open. 8 LZ Encoder Z-phase pulse
(Differential line driver)
18 LZR
MR-J2HBUS M cable Plate SD MR-J2S-CLP01
CN1B

(Note 12) CS1 2m or less

CN1 A
1 LG General-purpose
linear scale or
0 2 LA rotary encoder
3 LAR
Servo amplifier (A/B/Z-phase S
MR-J2S- B 4 LB differential output
CN1B CN1A

(-PY096/-S096)
5 LBR type) R
(Axis 2)

CS1 6 LZ C
(Note 12)
Encoder

MR-J2HBUS M cable 7 LZR

(Note 2) Connect the MR-HP4CN1 D
8 LAL connector to the CN1A
1 9 LALR
connector. A
14 P5L B
Servo amplifier
MR-J2S- B Plate SD F
CN1B CN1A

(-PY096/-S096)
(Axis n)
(Note 3)
G
CN1B

Always insert the terminating (Note 12) CS1 (Note 8)

connector (MR-A-TM) to the
(Note 12) N
(Note 2) MR-JHSCBL M-H cable,
termination of the servo bus. MR-JHSCBL M -L cable M
n-1 or MR-ENCBL M-H cable
Use 30m or less.

3- 1

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 3. SIGNALS AND WIRING

(2) When serial communication compatible linear scale is connected to closed end F/B
Motor
Servo amplifier HC-KFS, MFS,
MR-J2S- B UFS3000r/min series
-PY096/-S096

Motor connector
CN1 A CN2 10 P5 7 P5 7 P5
19 P5 19 P5 19 P5 8 LG 8 LG
12 LG 12 LG 12 LG 1 MR 1 MR
20 P5 20 P5 20 P5
2 MRR 2 MRR

Encoder
CN1 B 11 LG 11 LG 11 LG
7 MR 7 MR 4 MD 4 MD
7 MR
17 MRR 17 MRR 17 MRR 5 MDR 5 MDR
18 P5 18 P5 3 BAT 3 BAT
1 LG 1 LG 1 LG 9 SD 9 SD
CN3 2 LG 2 LG 6 CNT 6 CNT
Plate SD Plate SD
MR-JCCBL M-H cable or
MR-JCCBL M-L cable
For connection of TE1, TE2 Use 30m or less.
and connectors CN1A,
Motor
CN1B, CN3, refer to "3.1 HC-SFS, RFS,
(1) When MR-J2S-CLP01 is UFS2000r/min series
used".

Using the ABS type scale

enables an absolute position Motor connector
detection system to be S
configured. At that time, 10 P5 R
the battery (MR-BAT) is not 19 P5 19 P5
C
needed. 12 LG 12 LG
20 P5 20 P5 D

Encoder
11 LG 11 LG A
7 MR 7 MR MR-JHSCBL M -H cable, B
17 MRR 17 MRR MR-JHSCBL M -L cable or
F
MR-ENCBL M-H cable
18 P5 18 P5 Use 30m or less. G
1 LG 1 LG
2 LG 2 LG N
Plate SD Plate SD M

(Note6)
Linear scale 5m (Note2)
(Note1)
CN2 connector
6 MD 12 LG LG
7 MR
1 9 P5 P5

Mitutoyo make
16 MDR 17 MRR

linear scale
7 MR RQ
4 MD2 6 MD
1 7 MRR / RQ (Note7)
14 MDR2 16 MDR 11 LG LG
2 LG 2 0 P5 P5
1 LG Plate SD FG
(Note7)

make linear encoder (linear scale)

9 BAT 9 BAT 30m
Sony Precision Technology

Sony Precision Technology

(Note1) (Note2)
Plate SD 18 P5
11 LG 0V
make interpolator

19 P5
12 LG 0V
12 LG
7 MR MR
1 7 MRR MRR
Plate SD SHD
20 P5
11 LG
Stabilized
Plate SD (Note6) power (Note3)
supply
5m (Note2)
(5V)

(Note1) inner
Renishaw make linear encoder

12 LG LG
19 P5 P5
The option cable (MR-J2SCLCBL02M-P-H) can be used for
(linear scale)

7 MR MR
connection between CN2 and motor connector or between 17 MRR MRR (Note7)
11 LG LG
CN2 and linear scale connector. 20 P5 P5
0.2m
Plate SD / P
motor

(Note 5) /Q
For CN2 CaseSD
For motor
Motor connector (3M or equivalent) Limit switch output
Amplifier connector
10220-0200EL (connector)
(3M or equivalent) (Note6)
10320-E2W0-008 (shell kit)
10120-3000PE (connector)
5m (Note4, 7)
10320-52F0-008 (shell kit) (Note 5) (Note1) (Note2)
SCALE

For linear scale 12 LG 0V

Linear scale connector (3M or equivalent)
Heidenhain make linear

1 9 P5 5V
encoder (linear scale)

10220-0200EL (connector)
10320-E2W0-008 (shell kit) 6 MD SD
1 6 MDR / SD
7 MR RQ
Note 1. Fabricate the linear scale connection cable on the customer side using the optional CN1 connector (MR-J2CN1).
2. Contact the corresponding scale manufacturer for the linear scale and interpolator side pin numbers. 1 7 MRR / RQ
3. For the specifications of the stabilized power supply, contact Sony Precision Technology. 11 LG 0V/sensor
4. To use the Heidenhain make linear scale, the parameter No. 23 (in the case of the MR-J2S-B-PY096/-S096 type) setting 20 P5 5V/sensor
must be changed. Refer to "CHAPTER 2 LINEAR SCALES" for more information. Plate SD FG
5. The motor connector and linear scale connector have the same shape. Incorrect connection of the connector can cause a failure.
6. This wiring is for AWG22. Up to 30m is allowed by changing the wiring. The Heidenhain make linear scale is compatible
Refer to " CHAPTER 2 LINEAR SCALES " for details of wiring. with the MR-J2S-B-PY096/-S096 type only.
7. Use after confirming the specifications of the linear scale such as the temperatures, vibration resistance and protective structure.
For use in the environment having much static noise, contact the scale manufacturer separately.

3- 2

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 3. SIGNALS AND WIRING

(3) When serial communication compatible servo motor is connected to closed end F/B
Drive motor
Servo amplifier HC-KFS, MFS,
MR-J2S- B UFS3000r/min series
-PY096/-S096

Motor connector
CN1 A CN2 10 P5 7 P5 7 P5
19 P5 19 P5 19 P5 8 LG 8 LG
12 LG 12 LG 12 LG
1 MR 1 MR
20 P5 20 P5 20 P5
11 LG 2 MRR 2 MRR

Encoder
CN1 B 11 LG LG 11
7 7 MR 7 MR 4 MD 4 MD
MR
17 MRR 17 MRR 17 MRR 5 MDR 5 MDR
18 P5 18 P5 3 BAT 3 BAT
1 LG 1 LG 1 LG 9 SD 9 SD
CN3 2 LG 2 LG 6 CNT 6 CNT
Plate SD Plate SD
MR-JCCBL M-H cable or
MR-JCCBL M-L cable
For connection of TE1, TE2 Use 30m or less.
and connectors CN1A, Drive motor
CN1B, CN3, refer to "3.1 HC-SFS, RFS,
(1) When MR-J2S-CLP01 is UFS2000r/min series
used".

Motor connector S
10 P5 R
19 P5 19 P5 C
12 LG 12 LG D
20 P5 20 P5

Encoder
A
11 LG 11 LG
7 MR 7 MR B
MR-JHSCBL M -H cable,
17 MRR 17 MRR MR-JHSCBL M -L cable or F
MR-ENCBL M-H cable
18 P5 18 P5 Use 30m or less. G
1 LG 1 LG N
2 LG 2 LG
Plate Plate M
SD SD

Position detector connector Position detection

CN2 motor
HC-KFS, MFS series
6 MD 7 MR 7 MR
16 MDR 17 MRR 17 MRR
4 MD2 6 MD 6 MD
14 MDR2 16 MDR 16 MDR 7 P5 7 P5
2 LG 2 LG 8 LG 8 LG
1 LG 1 LG 1 MR 1 MR
(Note1) 9 BAT 9 BAT 9 BAT 2 MRR 2 MRR Encoder
(Note1)
Plate SD 18 P5 18 P5 4 MD 4 MD
19 P5 19 P5 5 MDR 5 MDR
12 LG 12 LG 3 BAT 3 BAT
9 SD 9 SD
6 CNT 6 CNT
20 P5 20 P5
11 LG 11 LG MR-JCCBL M-H cable or
Plate SD Plate SD MR-JCCBL M-L cable
Use 30m or less.

The option cable (MR-J2SCLCBL02M-P-H) can be used for

connection between CN2 and motor connector or between
CN2 and linear scale connector.
0.2m
motor

(Note 2)
For CN2
For motor
Motor connector (3M or equivalent)
Amplifier connector
10220-0200EL (connector)
(3M or equivalent)
10320-E2W0-008 (shell kit)
10120-3000VE (connector)
10320-52F0-008 (shell kit)
SCALE

(Note 2)
For position detector
Linear scale connector (3M or equivalent)
10220-0200EL (connector)
10320-E2W0-008 (shell kit)

Note 1. Fabricate the linear scale connection cable on the customer side using the optional CN1 connector (MR-J2CWired in the option cable
(MR-J2SCLCBL02M-P-H). Note that it is not compatible with an absolute position detection system.
2. The motor connector and position detector connector have the same shape. Incorrect connection of the connector can cause a failure.

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 3. SIGNALS AND WIRING

(4) About CN2 wiring for closed end serial communication compatibility (when MR-J2CLCBL02M-P-H is used)
For use of the serial I/F compatible encoder, the wiring diagram shows that a bifurcated cable is to be
connected. When using the option cable MR-J2CLCBL02M-P-H in the bifurcated wiring area, perform
wiring as shown below.

(a) For serial communication compatible linear scale

Servo amplifier

1) MR-J2SCLCBL02M-P-H

3) Serial communication signal cable

CN2

Encoder signal 2)
Linear scale

Servo motor

1) Use the MR-J2SCLCBL02M-P-H.

(Refer to "CHAPTER 7 OPTIONS AND AUXILIARY EQUIPMENT" for details such as internal
connection.)
2) Use the encoder cable (e.g. MR-JCCBL M-H, MR-JHSCBL M-H, MR-ENCBL M-H) of the
servo motor.
3) The wiring method changes depending on the linear scale.
Confirm "CHAPTER 2 LINEAR SCALES" and fabricate a connection cable on the customer side.

(b) For serial communication compatible rotary encoder

Servo amplifier
1) MR-J2SCLCBL02M-P-H

2) Encoder signal

CN2
2) (Note 2)
Encoder signal
Closed end servo motor
for detection

Drive servo motor

1) Use the MR-J2SCLCBL02M-P-H.

(Refer to " CHAPTER 7 OPTIONS AND AUXILIARY EQUIPMENT " for details such as
internal connection.)
2) Use the encoder cable (e.g. MR-JCCBL M-H, MR-JHSCBL M-H, MR-ENCBL M-H) of the
servo motor.

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 3. SIGNALS AND WIRING

3.2 Signal terminal explanation

(1) Main circuit terminal block, control circuit terminal block

Termina
Signal Name Abbreviation Description
l Block
Main circuit power input terminals.
Main circuit
L1, L2, L3 TE1 MR-J2S- B : Connect three-phase 200 to 230VAC/50, 60Hz.
power supply
MR-J2S- B1 : Connect single-phase 100 to 120VAC/50, 60Hz.
Servo motor power output terminals.
Servo motor Connect to the servo motor power supply terminals (U, V, W). During
U, V, W TE1
output power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
Control circuit power input terminals.
Control
L11 should be in the same power supply phase with L1, and L21 with L2.
circuit power L11, L21 TE2
MR-J2S- B : Connect to single-phase 200 to 230VAC/50, 60Hz.
supply
MR-J2S- B1 : Connect to single-phase 100 to 120VAC/50, 60Hz.
Regenerative option connection terminals.
Regenerative Factory-wired across P-D.
P, C, D TE2
option When using the regenerative option, always remove the wire across P-D
and connect the regenerative option across P-C.
N Keep open.
Ground terminal.
Protective
PE Chassis Connect to the earth terminal of the servo motor and the protective earth of
earth
the control box for grounding.

(2) CN3
Signal Name Abbreviation Pin No. Function/Application
24VDC for input interface is input.
Digital interface driver power input terminal.
Digital I/F power
COM 5 COM is all connected internally.
supply input
When using an external power supply, connect a power supply of 24VDC
and 200mA or more instead of VDD.
Digital interface driver power output terminal.
I/F internal
24VDC is output across VDD-SG. Connect with COM.
power supply VDD 10
(Do not make connection when using an external power supply.)
output
The permissible current is 80mA.
Digital I/F 24V common for VDD/COM and isolated from LG.
SG 3
common
Control common LG 1, 11 Control common used as a monitor common.
LA 6 Encoder A-phase pulse output terminals.
Encoder
The pulses set in parameter No. 38 (ENR) in the output type selected in
A-phase pulse LAR 16
parameter No. 68 (FC2) are output in the differential line driver system.
LB 7 Encoder B-phase pulse output terminals.
Encoder
The pulses set in parameter No. 38 (ENR) in the output type selected in
B-phase pulse LBR 17
parameter No. 68 (FC2) are output in the differential line driver system.
LZ 8 Encoder Z-phase pulse output terminals.
Encoder 1 pulse is output per servo motor revolution.
Z-phase pulse LZR 18 By setting parameter No. 68 (FC2), the Z phase (reference mark) of the full
closed encoder can be output.
MO1 4 Monitor output signal output terminals.
Monitor output The data set in parameter No. 22 (MOD) is output in analog form.
MO2 14 The multiplying factor can be set in parameter No. 22 (MOD).

Electromagnetic MBR-SG are disconnected at servo-off or alarm. At alarm occurrence, they

MBR 13
brake interlock are disconnected independently of the base circuit state.
When EM1-SG are opened, a forced stop state occurs, the servo switches
Forced stop EM1 20 off, and the dynamic brake is operated to make a stop. The forced stop
signal can be made invalid using parameter No. 23.
Shield SD Plate Connect one end of the shield wire.

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 3. SIGNALS AND WIRING

3.3 About power-on

The servo amplifier can accept a servo-on command within about 5s after the main circuit is powered on.
Therefore, when SON is turned on as soon as the main circuit is powered on, the base circuit switches on
within about 5s to make operation ready.

[Timing chart] SON acceptance

Within 5s

ON
Power supply
OFF

ON
Base circuit
OFF
10ms 60ms
ON
Servo-on command
(From controller) OFF

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 4. OPERATION AND FUNCTIONS

4 OPERATION AND FUNCTIONS

4.1 Startup
4.1.1 Startup procedure
Start up the full closed control system in the following procedure.

Completion of installation and wiring

Adjustment and operation check in semi closed control

Check that the servo

equipment is normal.
Positioning operation check using MR Configurator Do as necessary.

Gain adjustment

Adjustment and operation check in full closed control

Refer to Section 4.1.2.

Selection of full closed function

Refer to Section 4.1.3.

Selection of full closed encoder communication system

Refer to Section 4.1.4.

Setting of full closed encoder polarity

Refer to Section 4.1.5.

Setting of full closed encoder electronic gear

Refer to Section 4.1.6.

Confirmation of full closed encoder position data

Positioning operation check using MR Configurator

Gain adjustment

Refer to Section 4.1.7.

Adjustment of dual F/B switching filter (for dual F/B control)

Positioning operation check by controller Refer to Section 4.3.

Home position return operation

Refer to Section 4.2.

Positioning operation

Completion of full closed control system startup

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 4. OPERATION AND FUNCTIONS

4.1.2 Selection of full closed function

(1) Parameters
Initial Setting
No. Abbreviation Name and Function Unit
Value Range
62 FCT Full closed selection: 1300 0000h
Select the full closed encoder direction, full closed to
control error detection function 1 and full closed control 1312h
error detection function 2.

Full closed function

0: Invalid
1: Always valid
2: Switching valid (semi/full
switching by host controller)
67 DUF Dual F/B filter 10 rad/s 0
Set the bandwidth of the dual F/B filter. to
At 1000rad/s setting, the full closed control is made 1000
always valid.
At 0rad/s setting, the full closed control is made
invalid.
About half of the position loop gain 2 in parameter No.
15 is the guideline of the upper setting limit.
Note 1. When changing the setting of the above parameter, set "000F" in parameter No. 40 "parameter block ( BLK)".
2. After setting the parameter marked , switch power off once. The setting is made valid by switching power on again.

(2) Parameter setting method

Selection between semi closed control and full closed control can be made by combining the settings of
parameter No. 62 and No. 67.

Pr62 (FCT) Full Closed Function Pr67 (DUF) Control Mode

0 Invalid Semi closed control
0 to 999 Dual F/B full closed control
1 Valid
Completely full closed control
1000
When the full closed function switching is valid (semi/full switching by host controller), the
combinations are as follows.
At this time, the semi/full switching signal is invalid and semi closed control is performed in the test
operation from the MR Configurator.

MR Configurator Test Operation

Pr62 (FCT) Semi/Full Switching Signal Pr 67 (DUF) Control Mode
Mode
2 Semi selection Semi closed control
Dual F/B full closed
1 to 999
control Semi closed control
2 Full selection
Completely full closed
1000
control

Contact your sales representative for the models and specifications of the
CAUTION host controller that allows semi/full switching.

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 4. OPERATION AND FUNCTIONS

4.1.3 Selection of full closed encoder communication system

(1) Parameters
Initial Setting
No. Abbreviation Name and Function Unit
Value Range
23 OP1 Optional function 1: 0000 0000h
Select the optional function 1. to
0201h

Serial encoder cable selection

Select the communication systems of CH1 (for motor) and CH2 (for
full closed encoder).
When full closed function is invalid When full closed function is valid
Hundreds digit
(Pr:62: 0) (Pr:62: 1 or 2)
setting
ENC CH1 ENC CH2 ENC CH1 ENC CH2
0 2 wire type Unusable 2 wire type 2 wire type
1 4 wire type Unusable 4 wire type Unusable
2 2 wire type Unusable 2 wire type 4 wire type

Note 1. After setting the parameter marked , switch power off once. The setting is made valid by switching power on again.

(2) Parameter setting method

The communication system changes depending on the full closed encoder type.
Refer to section 2.1 Compatible Linear Scale List for the communication systems of the full closed
encoders.

If a wrong value is set in Serial encoder cable selection (parameter No. 23),
CAUTION a servo alarm (alarm 70) occurs at power-on of the servo amplifier.

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 4. OPERATION AND FUNCTIONS

4.1.4 Setting of full closed encoder polarity

(1) Parameter

Initial Setting
No. Abbreviation Name and Function Unit
Value Range
62 FCT Full closed selection 1300 0000h
Select the full closed encoder direction, full closed to
control error detection function 1 and full closed control 1312h
error detection function 2.

Full closed encoder polarity

0: Scale increasing direction in motor CCW
direction
1: Scale increasing direction in motor CW
direction
Note 1. When changing the setting of the above parameter, set "000F" in parameter No. 40 "parameter block ( BLK)".
2. After setting the parameter marked , switch power off once. The setting is made valid by switching power on again.

(2) Parameter setting method

Make setting so that the CCW direction (forward rotation direction) of the servomotor matches the
increasing direction of the full closed encoder feedback.
This setting must be made for all linear scales or rotary encoders.

[Pr. 62 = 0 : When the encoder address increasing direction is set for motor CCW]
Servo motor
Motor CCW direction

Linear scale Linear scale increasing direction

[Pr. 62 = 1 : When the encoder address increasing direction is set for motor CW]
Servo motor
Motor CCW direction

Linear scale Linear scale increasing direction

(3) How to confirm the full closed encoder feedback direction

For the way to confirm the full closed encoder feedback direction, refer to "4.1.6 Confirmation of full
closed encoder position data".

If a wrong value is set in the encoder direction of the full closed encoder
selection (parameter No. 62), normal operation may not performed, causing
machine collision. It may also cause a servo alarm (AL. 42) during
positioning operation.
CAUTION The above full closed encoder polarity setting is irrelevant to Pr. 7 (POL)
"rotation direction selection". As described above, always make setting
according to the relationship between the servo motor and linear scale or
rotary encoder.

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 4. OPERATION AND FUNCTIONS

4.1.5 Setting of full closed encoder electronic gear

(1) Parameters
Initial Setting
No. Abbreviation Name and Function Unit
Value Range
65 FCM Full closed electronic gear numerator 1 1
Set the numerator of the electronic gear relative to the to
full closed encoder pulse. 65535
66 FCD Full closed electronic gear denominator 1 1
Set the denominator of the electronic gear relative to to
the full closed encoder pulse. 65535
Note 1. When changing the setting of the above parameter, set "000F" in parameter No. 40 "parameter block ( BLK)".
2. After setting the parameter marked , switch power off once. The setting is made valid by switching power on again.

(2) Parameter setting method

For the full closed electronic gear setting, set the ratio of the full closed encoder feedback to the servo
motor encoder feedback.
FCM Number of servo motor encoder pulses per servo
FCD Number of full closed encoder pulses per servo
FCM
Make setting so that the full closed electronic gear does not fall outside the
FCD
1 FCM 100
< < range.
100 FCD 1
This setting must be made for all linear scales or rotary encoders.
[Setting example 1] When the servo motor is directly coupled with a ballscrew and the linear scale resolution is
0.05 m
Servo motor <Conditions>
Servo motor resolution : 131072pulse/rev
Ballscrew lead : 4mm
Linear scale resolution : 0.05 m

Linear scale
Calculate the number of linear scale pulses per servo motor revolution.
Ballscrew lead / linear scale resolution 4mm/0.05 m 80000pluse
FCM 131072 1024

FCD 80000 625

[Setting example 2] When a rotary encoder at roll feed detection end is used for detection
Pulley diameter d2 20mm
<Conditions>
Servo motor Servo motor resolution : 131072pulse/rev
Servo motor side pulley diameter : 30mm
Rotary encoder side pulley diameter : 20mm
Rotary encoder
Rotary encoder resolution : 5000pulse/rev
5000pulse/rev (20000 pulses/rev after multiplication by 4)
Pulley diameter d1 30mm

When the pulley diameters or reduction ratios differ, consider that in calculation.
For the rotary encoder, make calculation using the number of pulses multiplied by 4.
FCM 131072 20 8192

FCD 20000 30 1875

If a wrong value is set in the linear scale electronic gear (parameter No. 65,
CAUTION 66), normal operation may not performed.
It may also cause a servo alarm (AL. 42) during positioning operation.

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 4. OPERATION AND FUNCTIONS

4.1.6 Confirmation of full closed encoder position data

Check the full closed encoder mounting and parameter settings for any problems.

POINT
Depending on the check items, the MR Configurator may be used.
Refer to "4.6 About Setup" for the data displayed on the MR Configurator.

[Check items]
When checking the following items, the full closed control mode must be selected by setting parameter
No. 62 and No. 67.
For the control mode setting, refer to "4.1.2 Selection of full closed function".

No. Check Item Checking Method/Description

1 Read of full closed encoder position data With the full closed encoder in a normal state (mounting,
connection, etc.), the cumulative feedback pulse 2 (full closed
encoder side) value is counted normally when the full closed
encoder is moved.
2 Read of full closed encoder scale home position With the scale home position (reference mark, Z phase) of
(reference mark, Z phase) the full closed encoder in a normal state (mounting,
connection, etc.), the within-full-one-revolution position (full
closed encoder side) value is cleared to 0 when the scale
home position (reference mark, Z phase) is passed through
by moving the full closed encoder.
3 Confirmation of full closed encoder feedback Confirm the full closed encoder feedback direction at the
direction within-full-one-revolution position (full closed encoder side) by
(Setting of full closed encoder polarity) moving the device (full closed encoder) manually in a servo
off state.
When the servo motor and full closed encoder feedback
directions match, running the servo motor in the CCW
direction (counterclockwise as viewed from the shaft end)
increases the within-full-one-revolution position (full closed
encoder side), and running the servo motor in the CW
direction (clockwise as viewed from the shaft end) decreases
the within-full-one-revolution position (full closed encoder side).
When the servo motor and full closed encoder directions do
not match, operation is performed oppositely.
4 Setting of full closed electronic gear When the servo motor and full closed encoders operate
synchronously, the cumulative feedback pulse (motor encoder
side) and cumulative feedback pulse 2 (full closed encoder
side) values increase in accordance with the setting ratio of
the full closed electronic gear (FCM/FCD).
[Confirmation example]
When the servo motor is directly coupled with a ballscrew and the
linear scale resolution is 1.0 m
Motor encoder resolution 131072pullse/rev
Ballscrew lead 4.0mm
Linear scale resolution 1.0 m
When the movement is equivalent to one servo motor revolution
(machine end 4.0mm)
Cumulative feedback pulse 2 (full closed encoder side) 4000 pulses

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 4. OPERATION AND FUNCTIONS

4.1.7 Setting of dual feedback switching filter

(1) Parameter
Initial Setting
No. Abbreviation Name and Function Unit
Value Range
67 DUF Dual F/B filter 10 rad/s 0
Set the bandwidth of the dual F/B filter. to
At 1000rad/s setting, the full closed control is made
1000
always valid.
At 0rad/s setting, the full closed control is made invalid.
About half of the position loop gain 2 in parameter No.
15 is the guideline of the upper setting limit.
Note 1. When changing the setting of the above parameter, set "000F" in parameter No. 40 "parameter block ( BLK)".

(2) Parameter setting method

1) With the initial value (setting = 10) set in parameter No. 67, make gain adjustment by auto
tuning, etc. as in semi closed control.
2) While observing the servo operation waveform with the graph function, etc. of the MR
Configurator, adjust the dual F/B filter.

The dual F/B filter operates as described below depending on the setting.

Smaller Larger
No. 67 Setting 1000
1 (initial value = 10) to PG2 setting/2
Control mode Dual F/B Full closed
Vibration Less likely to occur. More likely to occur.
Settling time Increases. Decreases.

Increasing the dual F/B filter setting shortens the settling time, but increases motor
vibration since the motor is more likely to be influenced by the full closed encoder vibration.
The maximum setting of the dual F/B filter should be less than half of the PG2 setting.

[Reduction of settling time]: Increase the dual F/B filter setting.

Droop pulses Droop pulses

Command Command

Time Time

[Suppression of vibration]: Decrease the dual F/B filter setting.

Droop pulses
Droop pulses

Command Command

Time Time

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 4. OPERATION AND FUNCTIONS

4.2 Home position return operation

4.2.1 General precautions

Home position return operation is all performed according to the full closed encoder feedback data,
independently of the full closed encoder type. It is irrelevant to the Z-phase position of the motor encoder.
In the case of a home position return using a dog signal, the scale home position (reference mark) must be
passed through when an incremental type linear scale is used, or the Z phase be passed through when a
rotary encoder is used, during a period from a home position return start until the dog signal turns off.

4.2.2 Full closed encoder types and home position return methods
(1) About proximity dog type home position return using absolute linear scale Serial I/F
When an absolute linear scale is used, the home position reference position is the position per motor
encoder resolution relative to the scale home position (absolute position data = 0).
In the case of a proximity dog type home position return, the nearest position after proximity dog OFF
is the home position.
The scale home position may be set in any position.

Home position return direction

Home position return speed

Home position Creep speed

return operation

Proximity dog ON
signal OFF

Home position
reference position
Equivalent to one motor encoder revolution

Machine position

Scale home position Home position

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 4. OPERATION AND FUNCTIONS

(2) About proximity dog type home position return using incremental linear scale
Serial I/F General-purpose pulse output
When an incremental linear scale is used, the home position is the position per motor encoder
resolution relative to the scale home position (reference mark) passed through first after a home
position return start.
In the case of a proximity dog type home position return, the nearest position after proximity dog OFF
is the home position.
Set one scale home position in the full stroke, and set it in the position that can always be passed
through after a home position return start. Home position return direction

Home position return speed

Home position return Creep speed

Proximity dog ON
signal OFF

Home position
reference position
Equivalent to one motor encoder
revolution

Machine position

Scale home position Home position

If a home position return is started at the position where the scale home position (reference mark)
does not exist in the home position return direction, a home position return error occurs in the
controller (the error definition changes depending on the controller type). When starting a home
position return at the position where the scale home position (reference mark) does not exist in the
home position return direction, move the axis up to the stroke end on the side opposite to the home
position return direction by jog operation, etc. of the controller once, then make a home position
return. Home position return direction

Home position return speed

Creep speed

Home position return

i

Jog operation

Proximity ON
dog OFF
signal

Machine position

Stroke end Scale home position Home position

Home position return enabled Home position return disabled area

To execute a home position return securely, start a home position return

CAUTION after moving the axis to the opposite stroke end by jog operation, etc. of the
controller.
To execute a home position return securely, start a home position ret A
home position return cannot be made if the incremental linear scale does
not have a scale home position (reference mark). Always provide a scale
home position (reference mark). (One place in the full stroke)
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 4. OPERATION AND FUNCTIONS

[Precautions]
Note the following if the system uses the positioning module (QD75M) or VME bus Position Board (MR-MC01)
as a position controller.
The scale home position (reference mark) has some width in the region where the signal turns on.

Scale home position ON

OFF
signal
Signal ON width
The signal ON width changes depending on the used linear scale.
Contact the scale manufacturer for details.
The positioning module (QD75M) or VME bus Position Board (MR-MC01) determines the home position
reference position when the scale home position (reference mark) is passed through first after power-on of
the servo amplifier. Therefore, a lag equivalent to the scale home position signal width is produced in the
home position reference position depending on the direction in which the scale home position (reference
mark) is passed through.
Lag equivalent to scale home position signal ON
width is produced.
Home position
reference position
( Passed through
in direction) Equivalent to one motor
encoder revolution
Home position
reference position
( Passed through
Equivalent to one motor
in direction) encoder revolution
ON
Scale home position OFF

Signal ON width
Therefore, when it is desired to always make a home position return to the same position without a lag
equivalent to the scale home position signal width, a home position return must be performed so that the
scale home position is always passed through in the same direction.
The following indicates a home position return method in which a lag equivalent to the scale home
position signal width is not produced in the positioning module (QD75M) or VME bus Position Board
(MR-MC01).
[Home position return method in which lag equivalent to scale home position signal width is not produced]
(a) Move the linear servo motor to the position where the stroke end signal on the side opposite to the
home position return direction turns on.
Machine position

Stroke end Scale home position Home position

(b) Perform the power-on reset of the servo amplifier or reset the controller.
(c) Switch on the servo and make a home position return.
Home position return speed
Home position return direction

Home position return operation Creep speed

Proximity dog ON
signal OFF

Machine position

Stroke end Scale home position Home position

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 4. OPERATION AND FUNCTIONS

SUPPLEMENT
The positioning module (QD75M) and VME bus Position Board (MR-
MC01) are scheduled for modification to operate like the other
controllers.
Contact your sales representative for the modification time and
compatible versions.

The home position return retry function of the positioning module (QD75M)
CAUTION cannot be used.

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 4. OPERATION AND FUNCTIONS

(3) About proximity dog type home position return using rotary encoder
Serial I/F General-purpose pulse output

The home position using a rotary encoder as a full closed encoder is as described below. It is the
position per motor encoder resolution, starting at the position where the Z phase of the full closed
encoder is passed through first after power-on of the servo amplifier.
Full closed
encoder Z- ON
OFF
phase signal

Home position
reference position
Equivalent to one motor encoder revolution

Machine position
Home position reference is position per
motor encoder resolution relative to Z-phase
Servo amplifier signal of full closed encoder that was passed Home position
power-on position through first after power-on of servo
amplifier.

[Precautions]
Precautions for passage of Z phase
The home position reference position is set relative to the Z phase position of the full closed encoder
that is passed through first after power-on of the servo amplifier.
In Case A and Case B where the power-on position differs as shown below, the power-on position must
be noted since the axis cannot stop at the same home position return position.

Proximity dog ON
signal OFF

Full closed
encoder Z- ON
OFF
phase signal

Case

Home position
reference
position
Equivalent to one motor encoder revolution

Home position return speed

Creep speed
Home position
return
operation
Servo amplifier Home position
power-on position

Case
Home position
reference
position Equivalent to one motor encoder revolution

Home position
return speed Creep speed

Home position
return
operation Servo amplifier Home position
power-on position

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 4. OPERATION AND FUNCTIONS

[Method for always making home position return to the same position]
(a) Move the linear servo motor to the position where the stroke end signal on the side opposite to the
home position return direction turns on.

Machine position

Stroke end Scale home position Home position

(b) Perform the power-on reset of the servo amplifier or reset the controller.
(c) Switch on the servo and make a home position return.
Home position return direction
Home position return speed

Home position return operation Creep speed

Proximity dog ON
signal OFF

Machine position

Stroke end Scale home position Home position

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 4. OPERATION AND FUNCTIONS

(4) About data setting type count type 2) (QD75M) Common to all full closed encoders
In the data setting type/count type 2) (QD75M) home position return method, a home position return
can be normally made if the home position has been passed through (in either direction) before start of
a home position return, since a scale home position (reference mark) or the Z-phase signal of a rotary
encoder is not required.
When the linear scale used does not have a scale home position (reference mark) or the machine has
no distance of one motor encoder revolution until the Z phase of the rotary encoder is passed through,
a home position return can be made by changing the parameter (Pr. 33 "home position setting
condition selection") setting if the home position is not yet passed through.

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 4. OPERATION AND FUNCTIONS

4.3 Operation from controller

The full closed control compatible amplifier can be used with any of the following controllers.
Classification Model Remarks
A17 SHCPU, A173UHCPU
Motion controller A273UHCPU (-S3) Speed control (II) instructions (VVF, VVR) cannot be used.
Q17 CPU
AD(A1SD)75M cannot be used.
Positioning module QD75M
Home position return must be made with care.
MR-MC10 (PCI bus compatible)
MR-MC2 (CPCI bus compatible)
Position Board
MR-MC30 (ISA bus compatible)
MR-MC01 (VME bus compatible) Home position return must be made with care.
Note. An ABS type linear scale is required to configure an absolute position system.
The battery (MR-BAT) need not be fitted to the servo amplifier.

4.3.1 Operation from controller

Positioning operation from the controller is basically performed like the standard model servo.
However, some parameter settings and home position return operation change depending on the
controller type.

4.3.2 Controller setting

When using full closed control, make the following setting.
Set the other servo parameters and control parameters as in the standard servo.

(1) Motion controller, positioning module

After writing parameter No. 23, 33, 62, 65, 66, and 68 to the servo amplifier, turn off the power supply
and then on again to make the setting valid. (For motion controller, resetting makes the servo
amplifier setting valid.)
Settings
Motion controller Positioning module
Setting Item
A17 SH, A173UH, A273UH
QD75M
Q17
Command resolution Motor encoder resolution unit
Amplifier setting MR-J2S- B
Motor setting Automatic setting
Setting is necessary only when a 4
Serial encoder cable selection wire type linear scale is used.
(parameter No. 23) Contact your sales representative
for the setting method.
Home position setting condition selection Contact your sales representative
(parameter No. 33) for the setting method.
Servo
Full closed selection (parameter No. 62)
parameters Set using sequence
Full closed control error detection 1 (parameter No. 63)
ladder.
Full closed control error detection 2 (parameter No. 64)
Full closed electronic gear numerator
(parameter No. 65) Set using MR Configurator.
Full closed electronic gear denominator
(parameter No. 66)
Dual F/B filter (parameter No. 67)
Full closed selection 2 (parameter No. 68)
Unit setting mm/inch/degree/pulse
Positioning Moving distance per pulse (AP, AL, AM)
control Number of pulses per revolution (AP) Set AP, AL and AM as usual with motor encoder
parameters Moving distance per revolution (AL) resolution.
Unit multiplying factor (AM)

SUPPLEMENT
In the future, the Q motion controller (Q17 ) is scheduled to allow the
servo parameter Pr. 40 to Pr. 75 settings to be changed from the
peripheral software.
Contact your sales representative for the modification time and
compatible versions.

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 4. OPERATION AND FUNCTIONS

[Precautions]
The positioning module (QD75M) controls the servo parameters No. 0 to 75. Therefore, when setting any
of the servo parameters up to No. 75, change the buffer memory setting of the positioning module in a
sequence program.
If the settings of the parameters No. 0 to 75 are changed using the MR Configurator, they are not
reflected on the positioning module.

[Reference sequence program]

Example of writing the servo parameters (No. 62 to 67) of Axis No. 1
Write condition
TOP H0 K30162 H1302 K1 Pr. 62 setting

TOP H0 K30163 K1000 K1 Pr. 63 setting

TOP H0 K30164 K50 K1 Pr. 64 setting

TOP H0 K30165 K20 K1 Pr. 65 setting

TOP H0 K30166 K1 K1 Pr. 66 setting

TOP H0 K30167 K10 K1 Pr. 67 setting

TOP H0 K1900 K1 K1 Write to flash ROM

K5
T30 Write waiting timer
T30
Y0 PLC ready signal

The flash ROM has a restriction on the write count. Therefore, when setting data using a sequence
program every time, for example, do not write data to the flash ROM.
When controlling multiple axes, write the parameters to all axes.

(2) Position Board

Settings
Position Board
Setting Item
MR-MC10, MR-MC2 ,
MR-MC01
MR-MC30
Command resolution Motor encoder resolution unit
0080h (131072) 0080h (Automatic setting)
Motor type (parameter No. 3)
(Add 0603h) (Add 0414h)
Serial encoder cable selection Setting is necessary only when a 4 wire type
(parameter No. 23) linear scale is used.
Home position setting condition selection
Set as required.
(parameter No. 33)
Full closed selection (parameter No. 62)
Full closed control error detection 1
Servo
(parameter No. 63)
parameters
Full closed control error detection 2
(parameter No. 64)
Full closed electronic gear numerator Set using MR Configurator.
(parameter No. 65)
Full closed electronic gear denominator
(parameter No. 66)
Dual F/B filter (parameter No. 67)
Full closed selection 2 (parameter No. 68)
Control Home position return option (OPZ1) No setting 1 h
parameters Electronic gear setting (CMX, CDV) Set as usual with motor encoder resolution.

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 4. OPERATION AND FUNCTIONS

4.4 Functions

4.4.1 Full closed control error detection

If full closed control becomes instable for some reason, the speed at servo motor end may increase
abnormally.
The full closed control error detection function is a protective function designed to pre-detect it and stop
operation.
The full closed control error detection function has two different detection methods, speed difference and
position difference, and errors are detected only when the corresponding functions are made valid by
setting Full closed selection (parameter No. 62).
The detection level setting can be changed using the parameters (No. 63, 64).

(1) Parameters
Initial Setting
No. Abbreviation Name and Function Unit
Value Range
62 FCT Full closed selection: 1300 0000h
Select the full closed encoder direction, full closed to
control error detection function 1 and full closed control 1312h
error detection function 2.

Full closed control error detection function

0: Invalid
1: Full closed control error detection
function 1 valid
2: Full closed control error detection
function 2 valid
3: Full closed control error detection
functions 1 and 2 both valid
63 BC1 Full closed control error detection 1 400 r/min 1
Set the speed difference error detection level of Full to
closed control error detection 1.
permissible
Whether this function is valid or invalid can be selected
using parameter No. 62 (FCT). speed
1 to permissible speed
64 BC2 Full closed control error detection 2 10 0.1rev 1
Set the position difference error detection level of Full
to
closed control error detection 2.
Whether this function is valid or invalid can be selected 2000
using parameter No. 62 (FCT).
Note 1. When changing the setting of the above parameter, set "000F" in parameter No. 40 "parameter block ( BLK)".
2. After setting the parameter marked , switch power off once. The setting is made valid by switching power on again.

(2) Linear servo control error detection function

Servo motor
1) Motor end F/B speed (r/min)
2) Motor end F/B position (pulse)

3) Full closed end F/B speed (r/min)

4) Full closed end F/B position (pulse)
(Motor end equivalent value)
Example of linear
scale

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 4. OPERATION AND FUNCTIONS

(a) Speed difference error detection

If there is a difference of not less than the setting (1 to permissible speed, r/min) between 1) motor
end F/B speed and 3) full closed end F/B speed as a result of comparison, a stop is made due to an
alarm (AL42). In the default setting of the parameter, the error level is 400r/min.

(b) Position difference error detection

If there is a difference of not less than the setting (0.1 to 200.0rev) between 2) motor end F/B
position and 4) full closed end F/B position as a result of comparison, a stop is made due to an
alarm (AL42). In the default setting of the parameter, the error level is 1.0rev.

In the default settings of the parameters, speed difference error detection and position difference
error detection are both valid.

4.4.2 Auto tuning function

The auto tuning function is the same as that of the standard servo.
For full information, refer to the Instruction Manual of the MR-J2S- B standard model.

4.4.3 Machine analyzer function

The machine analyzer function of the MR Configurator is the same as that of the standard servo.
For full information, refer to the Instruction Manual of the MR-J2S- B standard model.
This function is activated by the feedback of the motor encoder. It is irrelevant to the full closed encoder.

4.4.4 Test operation

POINT
When performing test operation using the MR Configurator, it is
necessary to reset the power supply after setting the axis number of the
servo amplifier to "F".

Test operation can be performed by combining the MR Configurator that runs on the personal computer
and the servo amplifier.
The full closed control compatible amplifier cannot use motor-less operation.

Function Item Usability Remarks

Performed by the feedback of the motor encoder.
Jog operation Usable
It is irrelevant to the full closed encoder.
Positioning In a semi closed control/full closed control state, operation is performed in
Usable
operation the control mode states as set in parameter No. 62, No. 67.
Test operation
When full closed function switching is valid (semi/full switching by host
Program operation Usable
controller), semi closed control is always valid.
DO forced output Usable Same as the standard servo function.
Motor-less operation Unusable Not supported.

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 4. OPERATION AND FUNCTIONS

4.5 Absolute position detection system

An ABS type linear scale is necessary to configure an absolute position detection system under full closed
control using a linear scale.
In this case, absolute value data are backed up on the linear scale side, and therefore, the encoder battery
(MR-BAT) need not be installed to the servo amplifier.

POINT
When configuring an absolute position detection system with this servo
amplifier under semi closed control, the encoder battery (MR-BAT) must
be installed to the servo amplifier like the standard amplifier.
At this time, the option cable (MR-J2SCLCBL02M-P-H) cannot be used.
Connect the encoder cable of the motor encoder directly to the servo
amplifier.

[Precautions]
Make setting to make Absolute position detection valid in the servo parameter (Pr. 1 0001). The system
can be used in the following limited conditions.

(1) Using conditions

1) Use an absolute type linear scale with the full closed encoder.
2) Select Always full closed (Pr. 62 1).

(2) Absolute position detection range using encoder

Encoder Type Absolute Position Detection Enabled Range

Linear scale Movable distance range of scale
(Serial I/F) (within 32-bit absolute position data)

(3) Alarm detection

The absolute position-related alarm (25) and warnings (92, 9F, E3) are not detected.

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 4. OPERATION AND FUNCTIONS

4.6 About the MR Configurator

4.6.1 When current version of MR Configurator (MRZJW3-SETUP121 to -SETUP151 S/W: E0 version) is
used
The following indicates how to check whether the full closed-related parameter settings are normal or not
and whether the servo motor and full closed encoders operate normally or not.
Select "MR-J2S-B" in the system setting of the MR Configurator. Opening the batch monitor screen
displays the following screen.

1 3

(1) Explanation of display items

The following table indicates the display items that are related to the servo motor and full closed
encoders.

Symbol Name Explanation

Cumulative feedback pulse Feedback pulses from the servo motor encoder are counted and displayed.
1)
Click "Clear" to reset the value to 0.
Command pulse frequency Position command inputs from the command controller are counted and
2) displayed.
Click "Clear" to reset the value to 0.
3) Within-one-revolution position The within-one-revolution position of the servo motor encoder is displayed.
ABS counter The multi-revolution counter (number of revolutions from home position) of the
4) servo motor encoder is displayed.
The value is incremented or decremented by 1 per servo motor revolution.
Regenerative load ratio ( read as Feedback pulses from the full closed encoder are counted and displayed.
Cumulative feedback pulse 2) The value is displayed in the pulse unit of the closed encoder.
Caution: The name does not match Click "Clear" to reset the value to 0.
5)
what is monitored. The real
regenerative load ratio is displayed on
the left side.
Bus voltage ( read as Within-full-one- The within-one-revolution position of the full closed encoder is displayed.
revolution position) In the case of an INC linear scale, the Z-phase counter is displayed. The value
Caution: The name does not match is counted up from 0 relative to the home position (reference mark). The value
6) what is monitored. The real bus is displayed in the pulse unit of the closed encoder.
voltage is displayed two lines above. In the case of an ABS linear scale, the virtual within-one-revolution position
(equivalent to lower 17 bits of the conversion result of 32-bit absolute position
data into the motor end unit, 0 to 131071) is displayed.
Peak bus voltage ( read as Full ABS The multi-revolution counter (number of revolutions from home position) of the
counter) full closed encoder is displayed.
7) Caution: The name does not match In the case of an ABS linear scale, the virtual multi-revolution counter
what is monitored. (equivalent to lower 15 bits of the conversion result of 32-bit absolute position
data into the motor end unit, 0 to 32767) is displayed.

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 4. OPERATION AND FUNCTIONS

4.6.2 When full closed compatible MR Configurator (MRZJW3-SETUP151 S/W: E1 version or later) is used
Select "MR-J2S-B full closed" in the system setting of the MR Configurator.

(1) Batch monitor screen

This screen is designed to display Cumulative feedback pulse 2, Within-full-one-revolution position

and Full ABS counter as formal names.
Refer to above Section 4.7.1 for the explanation of what are displayed.

(2) Diagnosis - full closed diagnosis screen

The position-related monitor indications and parameters on the full closed function are all displayed
on a single screen.

(The explanation is given on the next page.)

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 4. OPERATION AND FUNCTIONS

[Explanation of display items and functions]

For the monitor display item, click "Start monitor" to read it continuously from the amplifier. Click
"Stop monitor" to stop read.
For the parameter item, click "Read parameter" to read it from the amplifier, and click "Write
parameter" to write.

Name Explanation
Command pulse Commands from the host controller are counted and displayed.
frequency Click "Clear" to reset the value to 0.
Cumulative feedback Feedback pulses from the servo motor encoder are counted and displayed.
pulse Click "Clear" to reset the value to 0.
Droop pulses When the full closed function is "invalid", a deviation from the command that uses the servo
motor encoder as F/B is displayed.
When the full closed function is "valid" or "semi/full switching", a deviation from the
command that uses the closed encoder as F/B is displayed.
Cumulative feedback Feedback pulses from the full closed encoder are counted and displayed.
The value is displayed in the pulse unit of the closed encoder.
pulse 2
Click "Clear" to reset the value to 0.

Encoder data The data of the closed end encoder are displayed.
The displayed data change depending on the closed encoder type.
ID : The ID number of the encoder is displayed.
Data 1 : In the case of the INC type, a counter starting at power-on is displayed.
In the ABS type linear encoder, absolute position data is displayed.
In the case of the ABS type rotary encoder, a multi-revolution counter is
displayed.
Data 2 : In the case of the INC type, the distance (number of pulses) from the reference
mark (Z phase) is displayed.
In the ABS type linear encoder, 00000000 is displayed.
In the case of the ABS type rotary encoder, a cycle counter is displayed.
Polarity A or sign is displayed according to the full closed encoder polarity specified in the full
closed selection parameter.
Note: Full closed encoder polarity
is displayed when the setting is "0: Address increasing direction for motor CCW".
Z-phase pass state When the full closed function is "invalid", the Z-phase pass state of the servo motor encoder
is displayed.
When the full closed function is "valid" or "semi/full switching", the Z-phase pass state of
the closed encoder is displayed.

Full closed switching Displayed only when "semi/full switching" is selected for the full closed function.
device The switching device selection command state and the internal state during selection are
displayed.
Parameter The parameter related to the full closed control is displayed.
Its setting can be changed and the new value can be written to the servo amplifier.
The related parameters are as follows.
Electronic gear : Pr. 6
Dual F/B filter : Pr. 67
FCM : Pr. 65
FCD : Pr. 66
Full closed selection : Pr. 62, 63, 64

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 5. PARAMETERS

5 PARAMETERS

5.1 Parameter list

SUPPLEMENT
For any parameter flagged with an asterisk (*), set the parameter value
and switch power off, then switch it on again to make the setting valid.
Parameter is set at the timing when communication is established
between the servo system controller and the servo amplifier
(displayed in b*).
Subsequently, turn off the power supply of servo amplifier and then on
again.

Class No. Abbreviation Name Initial Value Unit Remarks

01 AMS Amplifier setting 0000
02 REG Regenerative resistor 0000
03 For manufacture setting 0080
Basic parameters

04 For manufacture setting 0000

05 For manufacture setting 1
06 FBP Feedback pulse 0
07 POL Rotation direction selection 0
08 ATU Auto tuning 0001
09 RSP Servo response level setting 0005
10 TLP Forward rotation torque limit value 300 %
11 TLN Reverse rotation torque limit value 300 %
12 GD2 Ratio of load inertia moment to servo motor inertia 70 0.1 times
moment
13 PG1 Position loop gain 1 35 rad/s
14 VG1 Speed loop gain 1 177 rad/s
Adjustment parameters

15 PG2 Position loop gain 2 35 rad/s

16 VG2 Speed loop gain 2 817 rad/s
17 VIC Speed integral compensation 48 msec
18 NCH Machine resonance suppression filter 0
19 FFC Feed forward gain 0 %
20 INP In-position range 100 pulse
21 MBR Electromagnetic brake sequence output 0 msec
22 MOD Analog monitor output 0001
23 OP1 Optional function 1 0000
24 OP2 Optional function 2 0000
25 LPF Low-pass filter/adaptive vibration suppression control 0000
26 For manufacture setting 0000
27 MO1 Monitor output 1 offset 0 mv
28 MO2 Monitor output 2 offset 0 mv
29 For manufacture setting 0001
30 ZSP Zero speed 50 r/min
Expansion parameters

31 ERZ Error excessive alarm level 80 0.1rev

32 OP5 Optional function 5 0000
33 OP6 Optional function 6 0000
34 VPI PI-PID switching position droop 0 pulse
35 For manufacture setting 0
36 VDC Speed differential compensation 980
37 For manufacture setting 0010
38 ENR Encoder output pulse 4000 pulse/rev
39 For manufacture setting 0
40 BLK Parameter write inhibit 0000
The parameters marked are valid only at power-on.
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 5. PARAMETERS

Class No. Abbreviation Name Initial Value Unit Remarks

41 For manufacture setting 500
42 For manufacture setting 0000
43 For manufacture setting 0111
44 For manufacture setting 20
45 For manufacture setting 50
46 For manufacture setting 0
47 For manufacture setting 0
48 For manufacture setting 0
49 For manufacture setting 0000
50 For manufacture setting 10
51 For manufacture setting 1
52 For manufacture setting 70
53 For manufacture setting 100
54 For manufacture setting 100
55 For manufacture setting 100
56 For manufacture setting 0000
57 For manufacture setting 0000
Expansion parameters 2

58 For manufacture setting 0000

59 For manufacture setting 0000
60 OPC Optional function C 0000
61 For manufacture setting 0000
62 FCT Full closed selection (additional function unavailable for 1300
the standard model)
63 BC1 Full closed control error detection 1 (additional function 400 r/min
unavailable for the standard model)
64 BC2 Full closed control error detection 2 (additional function 10 0.1rev
unavailable for the standard model)
65 FCM Full closed electronic gear numerator (additional 1
function unavailable for the standard model)
66 FCD Full closed electronic gear denominator (additional 1
function unavailable for the standard model)
67 DUF Dual F/B filter (additional function unavailable for the 10
standard model)
68 FC2 Full closed selection 2 (additional function unavailable 0000
69 for the standard model) 0
70 0
71 0
72 0
73 0
74 0
75 0
The parameters marked are valid only at power-on.

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 5. PARAMETERS

The following parameters are those added to or modified in the MR-J2S- B-S096.
For other parameters, refer to the MELSERVO-J2S-B Instruction Manual as they are the same as those
of the standard model.

Setting
Class No. Abbreviation Name Initial Value Unit
Range
01 AMS Amplifier setting 0000 0000h
Select the amplifier setting. to
0001h
Basic parameters

Absolute position detection selection

0: Invalid (used in incremental system)
1: Valid (used in absolute position detection system)
Note: The INC type linear scale is compatible with the incremental
system only. It is also compatible with the incremental system
only when "2: Switching valid" is selected for the full closed
function. If absolute position detection valid is selected in
such cases, the parameter error AL-37 occurs.

22 MOD Analog monitor output 0001 0000h

Set the signals output to the analog monitor outputs. to
4C4Ch

Analog monitor ch2 output selection

The settings and their definitions are as in analog monitor ch1.

Analog monitor ch1 output selection

0: Motor speed ( 8V/maximum speed)
1: Torque ( 8V/maximum torque)
2: Motor speed ( 8V/maximum speed)
Adjustment parameter

3: Torque ( 8V/maximum torque)

4: Current command ( 8V/maximum current command)
5: Speed command ( 8V/maximum speed)
6: Droop pulses ( 10V/128 pulses)
7: Droop pulses ( 10V/2048 pulses)
8: Droop pulses ( 10V/8192 pulses)
9: Droop pulses ( 10V/32768 pulses)
A: Droop pulses ( 10V/131072 pulses)
B: Bus voltage ( 8V/400V)
C: Motor end full closed end position difference ( 10V/131072
pulses)

Droop pulses are in the pulse unit of the motor end.

The difference between the position command and linear
scale is output.
By setting parameter No. 68 "droop pulse unit selection",
droop pulses can be output in the full closed end pulse unit.

The parameter marked is valid only at power-on.

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 5. PARAMETERS

Setting
Class No. Abbreviation Name Initial Value Unit
Range
23 OP1 Optional function 1: 0000 0000h
Select the optional function 1. to
0201h

Servo forced stop selection

Select the servo forced stop function of the CN3-20 input.
0: Valid (forced stop signal is used)
1: Invalid (forced stop signal is not used)monitor ch1.

Serial encoder cable selection

Select the communication systems of CH1 (for motor) and CH2 (for full
closed encoder).
When full closed function When full closed function
Hundreds is invalid is valid
digit setting (Pr. 62: 0) (Pr. 62: 1 or 2)
ENC CH1 ENC CH2 ENC CH1 ENC CH2
0 2 wire type Unusable 2 wire type 2 wire type
1 4 wire type Unusable 4 wire type Unusable
2 2 wire type Unusable 2 wire type 4 wire type
Adjustment parameter

The parameter marked is valid only at power-on.

5- 4

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 5. PARAMETERS

Setting
Class No. Abbreviation Name Initial Value Unit
Range
33 OP6 Optional function 6: 0000 0000h
Select the optional function 6. to
1110h

Serial communication baud rate selection

0: 9600[bps]
Serial communication response delay time selection
0: Invalid
1: Valid, a replay is sent after a delay time of 888 sec or more
Encoder pulse output setting selection
0: Output pulse setting
1: Division ratio setting
Home position setting condition selection
Select the condition under which a home position setting is made from
the servo system controller.
0: Motor Z-phase pass required after power on
1: Motor Z-phase pass not required after power on
(Used in a data setting type home position return where the Z
phase is not passed through.)

38 ENR Encoder output pulse: 4000 0

Set the encoder output provided by the servo amplifier to
Expansion parameters

in terms of the number of output pulses per revolution 65535

or a division ratio. This selection depends on
parameter No. 33. Use the maximum output frequency
within 1.3Mpulse/sec.
1) In the case of division ratio setting
Number of encoder pulses equivalen
Number of output pulses to one motor revolution
equivalent to one motor
revolution ENR setting
2) In the case of output pulse setting
Number of output pulses equivalent to one motor
revolution ENR setting
Set the above number of output pulses in terms of the
number of pulses multiplied by 4 in AB phases.
Note: When the full closed function is made valid in
parameter No. 62 (FCT) and the ABZ-phase pulse
output of the full closed encoder is selected in
parameter No. 68 (FC2), consider it as "equivalent
to one motor revolution" "moving distance of the
full closed encoder equivalent to one revolution of
the semi closed end motor".
For example, when the linear scale of 0.1 m
resolution is installed as the full closed encoder to
move 10mm per servo motor revolution,
1) On the assumption that the ENR setting is 20 for
division ratio setting
100000 (equivalent to one
Number of output pulses motor revolution)
500
for 10mm movement
20
2) On the assumption that the ENR setting is 20 for
output pulse setting
Number of output pulses for 10mm movement 20
The parameters marked are valid only at power-on.

5- 5

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 5. PARAMETERS

Setting
Class No. Abbreviation Name Initial Value Unit
Range
40 BLK Parameter write inhibit: 0000 0000h
Select the reference and write ranges of the parameters. to
100Eh
MR Configurator
Expansion parameters

Setting Reference Range Write Range

Other than the 00 to 11, 40 00 to 11, 40
following
000A 40 40
000C 00 to 40 00 to 11, 40
000E 00 to 40 00 to 40
000F 00 to 75 00 to 75
100E 00 to 40 40 only

60 OPC Optional function C: 0000 0000h

Select the encoder pulse output direction. to
0100h

Encoder pulse output direction selection

0: A-phase 90 lead for CCW
1: A-phase 90 lead for CW

62 FCT Full closed selection: 1300 0000h

Select the full closed encoder rotation direction, full to
closed control error detection function 1 and full closed 1312h
control error detection function 2.

Full closed function

Expansion parameters 2

0: Invalid
1: Always valid
2: Switching valid (semi/full switching by host controller)

Full closed encoder polarity

0: Address increasing direction for motor CCW
1: Address increasing direction for motor CW

Full closed control error detection function

Setting Full closed control error detection function
0 Invalid
1 Full closed control error detection function 1 valid
2 Full closed control error detection function 2 valid
3 Full closed control error detection functions 1 and 2
both valid

Full closed encoder error (AL-2A) selection

0: Invalid (when ALM signal is not connected in MR-J2S-CLP01)
1: Valid

The parameters marked are valid only at power-on.

5- 6

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 5. PARAMETERS

Setting
Class No. Abbreviation Name Initial Value Unit
Range
63 BC1 Full closed control error detection 1: 400 r/min 1
Set the speed difference error detection level of the full to
closed control error detection function 1. (Set in terms permissi
of the servo motor end-equivalent speed.) ble
Whether this function is valid or invalid can be selected speed
using parameter No. 62 (FCT).
64 BC2 Full closed control error detection 2: 10 0.1rev 1
Set the position difference error detection level of the to
full closed control error detection 2 function. (Set in 2000
terms of the number of servo motor end-equivalent
revolutions.)
Whether this function is valid or invalid can be selected
using parameter No. 62 (FCT).
65 FCM Full closed electronic gear numerator: 1 1
Set the numerator of the electronic gear relative to the to
full closed encoder pulse. 65535
66 FCD Full closed electronic gear denominator: 1 1
Set the denominator of the electronic gear relative to to
the full closed encoder pulse. 65535
Expansion parameters 2

67 DUF Dual F/B filter: 10 rad/s 0

Set the bandwidth of the dual F/B filter. to
At 1000rad/s setting, the full closed control is made 1000
always valid.
At 0rad/s setting, the full closed control is made invalid.
About half of the position loop gain 2 in parameter No.
15 is the guideline of the upper setting limit.
68 FC2 Full closed selection 2: 0000 0000h
Select the functions related to full closed control. to
0011h

Pulse output setting

0: ABZ phase pulses of the full closed encoder are output.
1: ABZ phase pulses of the motor end encoder are output.
(Note: When the full closed function is invalid (including
when the semi closed function is selected at the time of
the switching valid setting), the ABZ phase pulses of the
motor end encoder are forcibly output.)
Droop pulse unit selection
0: Motor end pulse unit
1: Closed end pulse unit
With this setting, the droop pulse unit of the MR Configurator
batch monitor display, monitor graph data and analog monitor
output can be selected.
(Note: When the full closed function is invalid (including when
the semi closed function is selected at the time of the switching
valid setting), the motor end pulse unit is forcibly set.)

The parameters marked are valid only at power-on.

5- 7

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 5. PARAMETERS

MEMO

5- 8

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 6. TROUBLESHOOTING

6 TROUBLESHOOTING
6.1 Alarm list
The following protective functions are the alarms that differ from those of the standard model.
For the other alarms, refer to the MELSERVO-J2S-B Specifications and Installation Guide and
Instruction Manual since they are the same as those of the standard model.
Indication Name Definition Occurrence Factor Corrective Action
AL28 Full closed Linear scale operating The linear scale temperature is high. Check the linear scale
encoder error 2 environment was abnormal. (Mitutoyo make linear scale) temperature and contact
the scale manufacturer.
Reduction of linear scale signal level Check the mounting state
(Sony Precision Technology make of the linear scale.
linear encoder)
AL2A Full closed Full closed encoder (linear Full closed encoder fault Contact the full closed
encoder error 1 scale or ABZ phase pulse- encoder manufacturer.
specified encoder) is faulty. Linear scale alarm Confirm the detailed
information given in
Section 6.2 and contact
the scale manufacturer.
The linear scale speed exceeded the Use the linear scale at the
specification range. speed within the
specification range.
Linear scale and detection head Adjust the linear scale
mounting position error and detection head
mounting positions.
Noise entry Take noise reduction
measures.
Contact the full closed
encoder manufacturer.
The MR-J2S-CLP01 connector CN1A Connect it correctly.
is disconnected.
ALM output of the full closed Change the full closed
encoder (when ALM output detection encoder.
is valid in parameter No. 62)
AL42 Full closed Full closed control error Full closed encoder failure Change the full closed
control error detection function was encoder.
detection activated. The polarity of the full closed Check the mounting
1) The difference between the encoder is set oppositely. orientation of the full
F/B speed of the full closed closed encoder.
encoder and the F/B speed Reexamine the setting of
of the motor end encoder parameter No. 62.
reached or exceeded the The setting of the full closed encoder Reexamine the settings of
setting of Pr. 63. electronic gear is wrong. parameter No. 65, 66.
2) The motor shaft-equivalent Check the mounting state
difference between the F/B of the full closed encoder.
position of the full closed The resolution setting for the full Set the resolution setting
encoder and the F/B position closed encoder is incorrect. for the full closed encoder
of the motor end encoder correctly.
reached or exceeded the
setting of Pr. 64.
AL70 Full closed The connector CN2 is disconnected. Connect it correctly.
encoder
Error occurred in MR-J2S-CLP01 unit failure Change the unit.
communication
communication between the
error 1 The internal setting switch (SW1) for Set correctly.
full closed encoder and servo
MR-J2S -CLP01 unit is not closed.
amplifier.
Full closed encoder cable failure Correct or change the
cable.
AL71 Full closed Error occurred in MR-J2S-CLP01 unit failure Change the unit.
encoder communication between the
communication full closed encoder and servo Full closed encoder cable failure Correct or change the
error 2 amplifier. cable.
Full closed encoder cable wiring Reexamine the wiring.
mistake (All of the A-, B- and Z-
phase signal and power supply wires
are not yet connected. Especially
note that the wiring of the MR-J2S-
CLP01 unit Z-phase cannot be
omitted.)
The startup timing of 5V power Speed up the startup
supply for the MR-J2S-CLP01 unit is timing of 5V power supply
slow. for the MR-J2S-CLP01
unit.
Note: The above alarms are cleared by powering off the servo amplifier. They are not cleared by performing an alarm reset.
6- 1

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 6. TROUBLESHOOTING

6.2 Scale error (AL. 2A) details classified by linear scale manufacturer

When the occurrence cause of alarm 2A is unknown, contact the linear scale manufacturer after
confirming the scale error details in the following table on the basis of the alarm detail information of the
alarm history display on the MR Configurator.

Scale Error (Alarm 2A) Details

Detail
Mitutoyo Sony Precision Technology Heidenhain Renishaw
Information Bit
Bit7 Optical overspeed Overspeed error
Bit6 ROM RAM error Overspeed
Bit5 EEPROM error Encoder alarm EEPROM error
Bit4 CPU error CPU error
Bit3 Capacitive error ABS data error
Bit2 Photoelectric error INC data error
Scale level error
Photoelectric capacitive
Bit1 Encoder warning INC/ABS data mismatch error Level error
data mismatch

Bit0 Initialization error Initialization error

Example in which alarm 2A occurred on Mitutoyo make linear scale AT343A

Alarm details : 44h

When the alarm detail information of alarm 2A is 44h, bit 6 and bit 2 are on as indicated below,
indicating that the ROM RAM error and photoelectric error occurred.
Use this information when contacting the scale manufacturer.

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0

44h = 0 1 0 0 0 1 0 0

4 4

6- 2

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 7. OPTIONS AND AUXILIARY EQUIPMENT

7 OPTIONS AND AUXILIARY EQUIPMENT

7.1 CN2 wiring option cable (MR-J2SCLCBL02M-P-H)
The internal wiring of the option cable (MR-J2SCLCBL02M-P-H) is as shown below.
Explanation of connectors
CN2 connector : Connect to CN2 of the servo amplifier.
MOTOR connector : Connect the encoder cable (e.g. MR-JCCBL M-H, MR-JHSCBL M-H,
MR-ENCBL M-H) of the servo motor.
SCALE connector : Connect the serial communication encoder connector at the full closed end.
Appearance

MOTOR
CN2

SCALE
Wiring diagram
200mm MOTOR
CN2 connector
connector 18 P5
19 P5 19 P5
12 LG 12 LG
20 P5 20 P5
11 LG 11 LG
7 MR 7 MR
17 MRR 17 MRR
6 MD 18 P5
16 MDR 1 LG
4 MD2 2 LG
14 MDR2 Shieldﾄ
9 BAT 10220-0200EL (connector)
1 LG 10320-E2W0-008 (shell kit)
(3M or equivalent)
Shieldﾞ
10120-3000PE(connector)
320-52F0-008(shell kit)
SCALE
(3M or equivalent)
connector
10 P5
19 P5
12 LG
20 P5
11 LG
7 MR
17 MRR
6 MD
16 MDR
9 BAT
1 LG
2 LG
Shieldﾄ
10220-0200EL (connector)
10320-E2W0-008 (shell kit)
(3M or equivalent)

7- 1

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 7. OPTIONS AND AUXILIARY EQUIPMENT

MEMO

7- 2

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 REVISIONS
*The manual number is given on the bottom left of the back cover.
Print Data *Manual Number Revision
Feb., 2003 SH(NA)030035-A First edition
Jan., 2007 SH(NA)030035-B Chapter 2 Change of connector type name manufactured by 3M
Originally 10120-3000VE
Section 4.3. 2 (1) Addition of sentence
Section 5.1 Addition of sentence
Change of initial value for parameter No. 17 Originally 20
Section 6.1 Addition of cause for AL. 42
Addition of cause for AL. 70
Addition of cause for AL. 71

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 General-Purpose AC Servo

J2-Super Series
SSCNET Fully Closed Control Compatible

J2-Super Series
MODEL

MR-J2S- B-PY096
MR-J2S- B-S096(5.7kW)

MR-J2S- B-PY096 MR-J2S- B-S096(5.7kW) Instruction Manual B

INSTRUCTION MANUAL

MODEL
MODEL
CODE

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

B
SH (NA) 030035-B (0701) MEE Printed in Japan Specifications subject to change without notice.
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