Manual de Instruções Linear Encoder

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MODEL
MODEL
CODE
General-Purpose AC Servo
compatible
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
LINEAR ENCODER
INSTRUCTION MANUAL
LINEAR ENCODER 
INSTRUCTIONMANUAL
1CW947
H
A - 1 
 
 Safety Instructions 
Please read the instructions carefully before using the equipment. 
 
Do not attempt to install, operate, maintain or inspect the equipment until you have read through this 
Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the 
equipment until you have a full knowledge of the equipment, safety information and instructions. 
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION". 
 
 
 WARNING Indicates that incorrect handling may cause hazardous conditions, 
resulting in death or severe injury. 
 
 CAUTION Indicates that incorrect handling may cause hazardous conditions, 
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, keep it accessible to the operator. 
 
A - 2 
 
MEMO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1 
CONTENTS 
1. LINEAR ENCODER 1- 1 to 1-78 
1.1 Compatible linear encoder list .......................................................................................................... 1- 2 
1.2 Linear encoder manufactured by Mitutoyo (absolute type) .............................................................. 1- 6 
1.2.1 AT343A ...................................................................................................................................... 1- 6 
1.2.2 AT543A-SC/AT545A-SC ........................................................................................................... 1-11 
1.2.3 ST741A/ST742A/ST743A/ST744A ........................................................................................... 1-16 
1.2.4 ST1341A/ST1342A ................................................................................................................... 1-22 
1.3 Linear encoder manufactured by Heidenhain ................................................................................. 1-27 
1.3.1 LC 495M/LC 195M (absolute type) ........................................................................................... 1-27 
1.3.2 LIC 4193M/LIC 4195M/LIC 4197M/LIC 4199M/LIC 2197M/LIC 2199M ................................... 1-32 
1.3.3 LIDA 483/LIDA 485/LIDA 487/LIDA 489/LIDA 287/LIDA 289/LIF 481/LIP 581 
(incremental type) ..................................................................................................................... 1-41 
1.4 Linear encoder manufactured by Magnescale ................................................................................ 1-47 
1.4.1 SR77/SR87/SR75/SR85 ........................................................................................................... 1-47 
1.4.2 SL710 + PL101-RM/RHM (incremental type) ........................................................................... 1-49 
1.4.3 SR27A/SR67A........................................................................................................................... 1-54 
1.4.4 SQ10 + PQ10 + MQ10 (incremental type) ................................................................................ 1-56 
1.5 Linear encoder manufactured by Renishaw .................................................................................... 1-61 
1.5.1 RESOLUTE RL40M (absolute position type) ............................................................................ 1-61 
1.5.2 EVOLUTE EL40M (absolute type) ............................................................................................ 1-66 
1.6 Linear encoder PSLH041 manufactured by NIDEC SANKYO (Incremental type) .......................... 1-71 
1.7 A/B/Z-phase differential output linear encoder ................................................................................ 1-76 
2. OPTION CABLE/CONNECTOR SETS 2- 1 to 2- 4 
2.1 MR-EKCBL_M-H encoder cable ....................................................................................................... 2- 1 
2.2 MR-ECNM connector set .................................................................................................................. 2- 2 
2.3 MR-J3CN2 connector set ................................................................................................................. 2- 2 
2.4 MR-J4THCBL03M branch cable ....................................................................................................... 2- 3 
2.5 MR-J4FCCBL03M branch cable ....................................................................................................... 2- 4 
3. DETAILED EXPLANATION OF [AL. 2A LINEAR ENCODER ERROR 1] 3- 1 to 3- 2 
 
APPENDIX App.- 1 to App.- 1 
App. 1 Production of branch cable for linear servo motor ................................................................ App.- 1 
App. 2 Production of branch cable for fully closed loop control system ........................................... App.- 1 
App. 3 Manufacturer list .................................................................................................................... App.- 1 
 
2 
 
MEMO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1. LINEAR ENCODER 
1 - 1 
 
1. LINEAR ENCODER 
CAUTION 
More careful measures against oil and dust must be taken for the linear encoder 
than the linear servo motor. For details, contact each linear encoder 
manufacturer. 
 
POINT 
Always use the linear encoder cable introduced in this chapter. Using other 
products may cause a malfunction. 
For details of the linear encoder specifications, performance and assurance, 
contact each linear encoder manufacturer. 
A linear encoder communication method cannot be used depending on the 
software version of the servo amplifier. Refer to section 1.1 for combinations of 
the communication methods and software versions. 
When the linear encoder is incorrectly installed, an alarm or a position mismatch 
may occur. In this case, refer to the following general checking points for the 
linear encoder to confirm the installation. 
Check that the gap between the head and scale is proper. 
Check the scale head for rolling and yawing (looseness of scale head section). 
Check the scale surface for contamination and scratches. 
Check that the vibration and temperature are within the specified range. 
Check that the speed is within the permissible range without overshooting. 
Refer to section 1.1 for combinations of the linear encoders and servo 
amplifiers. 
When using a shell kit (36310-3200-008/36310-F200-008) of 3M or connector 
set (54599-1019) of Molex, securely connect the external conductor of the 
shielded cable to the ground plate and fix it to the connector shell. 
Screw
Cable
Ground plate 
MR-J4-_GF_(-RJ) servo amplifiers with software version A1 or later are 
compatible with the linear encoder. 
 
1. LINEAR ENCODER 
1 - 2 
 
1.1 Compatible linear encoder list 
Scale type Manufacturer Model Resolution 
Rated 
speed 
(Note 1) 
Effective 
measurement 
length 
(maximum) 
(Note 2) 
Commu-
nication 
method 
Absolute 
positiondetection 
system 
Mitsubishi 
serial interface 
compatibility 
Absolute 
position type 
Magnescale 
SR77 0.05 µm/ 
0.01 µm 
3.3 m/s 
2040 mm Two-
wire 
type 
 
SR87 3040 mm 
SR27A 
0.01 µm 3.3 m/s 
2040 mm 
Two-
wire 
type/ 
four-wire 
type 
(Note 4) 
SR67A 3640 mm 
Mitutoyo 
AT343A 
0.05 µm 
2.0 m/s 3000 mm 
Two-
wire 
type 
AT543A-SC 2.5 m/s 2200 mm 
AT545A-SC 
20 µm/4096 
(approx. 0.005 
µm) 
2.5 m/s 2200 mm 
ST741A 
0.5 µm 
 
ST742A 
ST743A 4.0 m/s 6000 mm 
ST744A 0.1 µm 
ST748A 
ST1341A 0.01 µm 
4.0 m/s 
12000 mm Two-
wire 
type ST1342A 0.001 µm 4200 mm 
Renishaw 
RESOLUTE RL40M 1 nm/50 nm 4.0 m/s 10000 mm 
Two-
wire 
type 
EVOLUTE EL40M 
50 nm/ 
100 nm/ 
500 nm 
4.0 m/s 3020 mm 
Two-
wire 
type 
Heidenhain 
LC 495M 
0.001 µm/ 
0.01 µm 
3.0 m/s 
2040 mm 
Four-
wire 
type 
(Note 4) 
LC 195M 4240 mm 
LIC 4193M 
0.005 µm/ 
0.01 µm 
4.0 m/s 
3040 mm Two-
wire 
type/ 
four-
wire 
type 
(Note 4) 
LIC 4195M 28440 mm 
LIC 4197M 6040 mm 
LIC 4199M 1020 mm 
LIC 2197M 
0.05 µm/ 
0.1 µm 
4.0 m/s 
6020 mm 
Two-
wire 
type/ 
four-
wire 
type 
(Note 4) 
LIC 2199M 6020 mm 
 
1. LINEAR ENCODER 
1 - 3 
 
Scale type Manufacturer Model Resolution 
Rated 
speed 
(Note 1) 
Effective 
measurement 
length 
(maximum) 
(Note 2) 
Commu-
nication 
method 
Absolute 
position 
detection 
system 
Mitsubishi 
serial interface 
compatibility 
Incremental 
type 
Magnescale 
SR75 0.05 µm/ 
0.01 µm 
3.3 m/s 
2040 mm 
Two-
wire 
type 
 
SR85 3040 mm 
SL710 + 
PL101-RM/RHM 
0.1 µm 4.0 m/s 100000 mm 
SQ10 + PQ10 + MQ10 
0.1 µm/ 
0.05 µm 
10.0 m/s 3800 mm 
Two-
wire 
type/ 
four-
wire 
type 
(Note 4) 
 
LIDA 483 + EIB 392M 
(/16384) 
20 µm/16384 
(approx. 1.22 
nm) 
4.0 m/s 
3040 mm 
Four-
wire 
type 
(Note 4) 
 
LIDA 485 + EIB 392M 
(/16384) 
30040 mm 
 
LIDA 487 + EIB 392M 
(/16384) 
6040 mm 
Heidenhain 
LIDA 489 + EIB 392M 
(/16384) 
1020 mm 
LIDA 287 + EIB 392M 
(/16384) 
200 µm/16384 
(approx. 12.2 
nm) 
10000 mm 
 
LIDA 289 + EIB 392M 
(/16384) 
 
LIF 481 + EIB 392M 
(/4096) 
4 µm/4096 
(approx. 0.977 
nm) 
1.2 m/s 
1020 mm 
1440 mm 
 
LIP 581 + EIB 392M 
(/4096) 
NIDEC SANKYO PSLH041 (Note 6) 0.1 µm 5.0 m/s 2400 mm 
Two-
wire 
type 
A/B/Z-phase 
differential 
output type 
Incremental 
type 
Not specified 
0.001 µm to 5 
µm 
(Note 3) 
Depends 
on the 
linear 
encoder 
Depends on 
the linear 
encoder 
A/B/Z-
phase 
differ-
ential 
output 
method 
(Note 5) 
 
Note 1. The indicated value is the rated speed of linear encoder when combined with MR-J4 servo amplifier. It may be different from 
the specifications of each manufacturer. 
 2. The indicated value is the specification value of manufacturer. The encoder cable length between the linear encoder and the 
servo amplifier is maximum 30 m. 
 3. Select a linear encoder within the range. 
 4. When using a linear encoder of four-wire type with fully closed loop control, use an MR-J4-(DU)_A_-RJ, MR-J4-(DU)_B_-RJ, 
or MR-J4-_GF_-RJ. When using a linear encoder of four-wire type with scale measurement function, use an MR-J4-(DU)_B_-
RJ or MR-J4-_GF_-RJ. 
 5. When using a linear encoder of A/B/Z-phase differential output method, use an MR-J4-(DU)_A_-RJ, MR-J4-(DU)_B_-RJ, or 
MR-J4-_GF_-RJ. 
 6. MR-J4-_A_(-RJ), MR-J4-_B_(-RJ), and MR-J4-W_B are available with software version B3 or later. 
 
1. LINEAR ENCODER 
1 - 4 
 
The following table shows connectors of servo amplifiers to connect a linear encoder. 
 
(1) MR-J4-_A(1)(-RJ), MR-J4-_B(1)(-RJ), MR-J4-_GF(-RJ), and MR-J4W_-_B 
 
Operation 
mode 
External 
encoder 
communication 
method 
Connector 
MR-J4-_A 
MR-J4-_A1 
MR-J4-_A-RJ 
MR-J4-_A1-RJ 
MR-J4-_B 
MR-J4-_B1 
MR-J4-_B-RJ 
MR-J4-_B1-RJ 
MR-J4-_GF MR-J4-_GF-RJ MR-J4W2-_B MR-J4W3-_B 
Linear servo 
motor 
system 
Two-wire type 
CN2 
(Note 1, 6) 
CN2 
(Note 1) 
CN2 
(Note 1) 
CN2 
(Note 1) 
CN2 
(Note 1) 
CN2 (Note 1) 
CN2A 
(Note 1) 
CN2B 
(Note 1) 
CN2A 
(Note 1) 
CN2B 
(Note 1) 
CN2C 
(Note 1) 
Four-wire type 
A/B/Z-phase 
differential 
output method 
 
CN2L 
(Note 8) 
 
CN2L 
(Note 8) 
 
CN2L 
(Note 8) 
 
Fully closed 
loop system 
Two-wire type 
CN2 
(Note 2, 3, 6) 
CN2L 
CN2 
(Note 2, 3, 5) 
CN2L 
CN2 
(Note 2, 3) 
CN2L 
CN2A 
(Note 2, 4, 5) 
CN2B 
(Note 2, 4, 5) 
 
Four-wire type 
 A/B/Z-phase 
differential 
output method 
Scale 
measurement 
function 
Two-wire type 
 
CN2 
(Note 2, 3, 7) 
CN2L 
(Note 7) 
CN2 
(Note 2, 3) 
CN2L 
CN2A 
(Note 2, 4, 7) 
CN2B 
(Note 2, 4, 7) 
 
Four-wire type 
 A/B/Z-phase 
differential 
output method 
 
Note 1. The MR-J4THCBL03M branch cable is necessary. 
 2. The MR-J4FCCBL03M branch cable is necessary. 
 3. When the communication method of the servo motor encoder is four-wire type, MR-J4-_A(1), MR-J4-_B(1), and MR-J4-_GF 
cannot be used. Use an MR-J4-_A(1)-RJ, MR-J4-_B(1)-RJ, or MR-J4-_GF-RJ. 
 4. When the communication method of the servo motor encoder is four-wire type, MR-J4W2-_B cannot be used. Use an MR-J4-
_B-RJ. 
 5. Supported by servo amplifiers with software version A3 or later. 
 6. Supported by servo amplifiers with software version A5 or later. 
 7. Supported by servo amplifiers with software version A8 or later. 
 8. Connect a thermistor to CN2. 
 
1. LINEAR ENCODER 
1 - 5 
 
(2) MR-J4-_A4(-RJ), MR-J4-_B4(-RJ), and MR-J4-_GF4(-RJ) 
 
Operation 
mode 
External 
encoder 
communication 
method 
Connector 
MR-J4-_A4 MR-J4-_A4-RJ MR-J4-_B4 MR-J4-_B4-RJ MR-J4-_GF4 MR-J4-_GF4-RJ 
Linear servo 
motor 
system 
Two-wire type CN2 
(Note 1) 
CN2 
(Note 1) 
CN2 
(Note 1) 
CN2 
(Note 1) 
CN2 
(Note 1) 
CN2 
(Note 1) 
 
Four-wire type 
A/B/Z-phase 
differential 
output method 
 
CN2L 
(Note 5) 
 
CN2L 
(Note 5) 
 
CN2L 
(Note 5) 
Fully closed 
loop system 
Two-wire type 
CN2 
(Note 2, 3) 
CN2L 
CN2 
(Note 2, 3) 
CN2L 
CN2 
(Note 2, 3) 
CN2L 
Four-wire type 
 A/B/Z-phase 
differential 
output method 
Scale 
measurement 
function 
Two-wire type 
 
CN2 
(Note 2, 3, 4) 
CN2L 
(Note 4) 
CN2 
(Note 2, 3) 
CN2L 
 
Four-wire type 
 
 
A/B/Z-phase 
differential 
output method 
 
 
Note 1. The MR-J4THCBL03M branch cable is necessary. 
 2. The MR-J4FCCBL03M branch cable is necessary. 
 3. When the communication method of the servo motor encoder is four-wire type, MR-J4-_A4, MR-J4-_B4, and MR-J4-_GF4 
cannot be used. Use an MR-J4-_A4-RJ, MR-J4-_B(1)-RJ, or MR-J4-_GF-RJ. 
 4. Supported by servo amplifiers with software version A8 or later. 
 5. Connect a thermistor to CN2. 
 
(3) For an MR-J4-DU_A_(-RJ) and MR-J4-DU_B_(-RJ) drive units 
 
Operation 
mode 
External encoder 
communication 
method 
External connection connector 
MR-J4-DU_A_ MR-J4-DU_A_-RJ MR-J4-DU_B_ MR-J4-DU_B_-RJ 
 
Fully closed 
loop system 
Two-wire type CN2 (Note 1, 2) 
CN2L 
CN2 (Note 1, 2) 
CN2L 
 
Four-wire type 
 
 
A/B/Z-phase 
differential output 
method 
 
Scale 
measurement 
function 
Two-wire type 
 
CN2 (Note 1, 2) 
CN2L 
 
Four-wire type 
 
 
A/B/Z-phase 
differential output 
method 
 
 
Note 1. The MR-J4FCCBL03M branch cable is necessary. 
 2. When the communication method of the servo motor encoder is four-wire type, MR-J4-DU_A_ and MR-J4-DU_B_ cannot be 
used. Use an MR-J4-DU_A_-RJ or MR-J4-DU_B_-RJ. 
 
1. LINEAR ENCODER 
1 - 6 
 
1.2 Linear encoder manufactured by Mitutoyo (absolute type) 
 
POINT 
When the absolute position detection system is configured, the absolute position 
battery is not required. 
 
1.2.1 AT343A 
(1) Cable composition 
Prepare a cable based on the following configuration diagram. 
 
(a) For the linear servo motor 
1) MR-J4-_A_/MR-J4-_B_/MR-J4-_GF_/MR-J4W_-_B 
Thermistor of linear servo motor
Branch cable
CN2B
CN2A
CN2
CN2C(Note 1)
Linear encoder
AT343A
2)
1)
3)
Encoder cable 1
CN2 4) SCALE
THM
or
(Note 3)
Thermistor of linear servo motorEncoder cable 2
5)
MR-J4-_A_/
MR-J4-_B_/
MR-J4-_GF_
MR-J4W_-_B
 
 Branch cable Encoder cable Output cable 
When using an 
optional encoder 
cable 
4) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) MR-EKCBL_M-H 
2 m/5 m (Refer to section 
2.1.) 
3) Options manufactured by 
Mitutoyo (Note 2) 
Part No.09BAA598A: 0.2 m 
Part No.09BAA598B: 2 m 
Part No.09BAA598C: 3 m 
When fabricating 
the encoder cable 
2) Connector set MR-ECNM 
(Refer to (2) (a) of this 
section.) 
When not using a 
branch cable 
 5) Connector set MR-ECNM 
(Refer to (2) (b) of this 
section.) 
 
Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not 
have CN2C. 
 2. It should be prepared by the customer. 
 3. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 7 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ/MR-J4-_GF_-RJ 
Thermistor of linear servo motor
Branch cable
CN2
CN2L
MR-J4-_A_-RJ/
MR-J4-_B_-RJ/
MR-J4-_GF_-RJ Linear encoder
AT343A
2)
1)
3)
Thermistor of linear servo motor
Encoder cable 1
CN2 4) SCALE
THM (Note 2)
5)
Encoder cable 2
 
 Branch cable Encoder cable Output cable 
When using an 
optional encoder 
cable 
4) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) MR-EKCBL_M-H 
2 m/5 m (Refer to section 
2.1.) 
3) Options manufactured by 
Mitutoyo (Note 1) 
Part No.09BAA598A: 0.2 m 
Part No.09BAA598B: 2 m 
Part No.09BAA598C: 3 m 
When fabricating 
the encoder cable 
2) Connector set MR-ECNM 
(Refer to (2) (a) of this 
section.) 
When not using a 
branch cable 
 5) Connector set MR-ECNM 
(Refer to (2) (b) of this 
section.) 
 
Note 1. It should be prepared by the customer. 
 2. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 8 
 
(b) For the fully closed loop system and scale measurement function 
1) MR-J4-(DU)_A_/MR-J4-(DU)_B_/MR-J4-_GF_/MR-J4W2-_B 
MR-J4-(DU)_A_/
MR-J4-(DU)_B_/
MR-J4-_GF_ Linear encoder
AT343A
Encoder cable 1
Branch cable
CN2 4) SCALE
MOTOR
2)
3)
1)
Encoder of rotary servo motor
CN2B
CN2A
CN2
MR-J4W2-_B
or
 
 Branch cable Encoder cable Output cable 
When using an 
optional encoder 
cable 
4) MR-J4FCCBL03M 
(Refer to section 
2.5.) 
1) MR-EKCBL_M-H 
2 m/5 m (Refer to section 
2.1.) 
3) Options manufactured by 
Mitutoyo (Note) 
Part No.09BAA598A: 0.2 m 
Part No.09BAA598B: 2 m 
Part No.09BAA598C: 3 m 
When fabricating 
the encoder cable 
2) Connector set MR-ECNM 
(Refer to (2) (a) of this 
section.) 
 
Note. It should be prepared by the customer. 
 
2) MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ/MR-J4-_GF_-RJ 
1)
Encoder of rotary servo motor
MR-J4-(DU)_A_-RJ/
MR-J4-(DU)_B_-RJ/
MR-J4-_GF_-RJ
CN2
CN2L Linear encoder
AT343A
2)
3)
Encoder cable 1
 
 Encoder cable Output cable 
When using an 
optional encoder 
cable 
1) MR-EKCBL_M-H 
2 m/5 m (Refer to section 
2.1.) 
3) Options manufactured by 
Mitutoyo (Note) 
Part No.09BAA598A: 0.2 m 
Part No.09BAA598B: 2 m 
Part No.09BAA598C: 3 m 
When fabricating 
the encoder cable 
2) Connector set MR-ECNM 
(Refer to (2) (a) of this 
section.) 
 
Note. It should be prepared by the customer. 
 
1. LINEAR ENCODER 
1 - 9 
 
(2) Production of encoder cable 
Produce the encoder cable using MR-ECNM as shown below. The encoder cable can be produced as 
the length of maximum 30 m. 
 
(a) Encoder cable 1 
View seen from wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from wiring side. (Note 3)
MR
MR
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
Connector set: 54599-1019
(Molex)
(Note 2)
(Note 2)
 
P5
LG
1
2
MR
MRR
3
4
7
Servo amplifier side Linear encoder side
SD Plate
1
2
8
9
LG
RQ
/RQ
FG
P5
(Note 1)
(Note 2)
 RQ
1 2 3
/RQ
4 5 6
P5
7 8 9
LG FG
View seen from wiring side.
Housing: 1-172161-9
Connector pin: 170359-1
(TE Connectivity or
equivalent)
Cable clamp: MTI-0002
(Toa Electric Industrial)
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 connections 
(when the output cable is 3 m or less) 
Cable size 
to 5 m 1-pair 
to 10 m 2-pair 
AWG 22 
to 20 m 3-pair 
to 30 m 5-pair 
 
 2. For the CN2L connector, signals of pin 3 and pin 4 will be as follows. 
Pin 3: MR2 Pin 4: MRR2 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with 
any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, securely connect the external 
conductor of the shielded cable to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 10 
 
(b) Encoder cable 2 
View seen from wiring side. (Note 3)
or
View seen from wiring side. (Note 3)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
Connector set: 54599-1019
(Molex)
THM2
THM1
1
P5
3 7 9
4
MRR
2
LG
86 10
5
4
MRR
THM2
THM1
2
LG 8
6
1
P5
5
10
3 7
9
MR
MR
 
P5
LG
1
2
MR
MRR
3
4
THM1
THM2
5
6
7
Servo amplifier side Linear encoder side
1
2
8 LG
RQ
/RQ
P5
SD Plate 9 FG
(Note 1)
AWG 24 to 20
Thermistor of
linear servo
motor (Note 2)
 
View seen from wiring side.
Housing: 1-172161-9
Connector pin: 170359-1
(TE Connectivity or
equivalent)
Cable clamp: MTI-0002
(Toa Electric Industrial)
RQ
1 2 3
/RQ
4 5 6
P5
7 8 9
LG FG
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 connections 
(when the output cable is 3 m or less) 
Cable size 
to 5 m 1-pair 
to 10 m 2-pair 
AWG 22 
to 20 m 3-pair 
to 30 m 5-pair 
 
 2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction Manual". 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with 
any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, securely connect the external 
conductor of the shielded cable to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 11 
 
1.2.2 AT543A-SC/AT545A-SC 
(1) Cable composition 
Prepare a cable based on the following configuration diagram. 
 
(a) For the linear servo motor 
1) MR-J4-_A_/MR-J4-_B_/MR-J4-_GF_/MR-J4W_-_B 
Linear encoder
AT543A-SC/AT545A-SC
2)
1)
Encoder cable 1
Thermistor of linear servo motor
Branch cable
CN2B
CN2A
CN2
CN2C
MR-J4W_-_B
(Note 1)
CN2 3) SCALE
THM
or
Output cable Head cable
Thermistor of linear servo motor
4)
(Note 2)
MR-J4-_A_/
MR-J4-_B_/
MR-J4-_GF_
Encoder cable 2
 
 Branch cable Encoder cable Output cable Head cable 
When using an 
optional encoder 
cable 
3) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) MR-EKCBL_M-H 
2 m/5 m (Refer to section 
2.1.) 
Accessories for linear 
encoder 
Cable length: 3 m 
Accessories for linear 
encoder 
Cable length: 2 m 
When fabricating 
the encoder cable 
2) Connector set MR-ECNM 
(Refer to (2) (a) of this 
section.) 
When not using a 
branch cable 
 4) Connector set MR-ECNM 
(Refer to (2) (b) of this 
section.) 
 
Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not have CN2C. 
 2. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 12 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ/MR-J4-_GF_-RJ 
MR-J4-_A_-RJ/
MR-J4-_B_-RJ/
MR-J4-_GF_-RJ
Linear encoder
AT543A-SC/AT545A-SC
2)
Output cable Head cable
1)
Encoder cable 1
Thermistor of linear servo motor
Branch cable
CN2
CN2L
CN2 3) SCALE
THM (Note)
Thermistor of linear servo motor
4)
Encoder cable 2
 
 Branch cable Encoder cable Output cable Head cable 
When using an 
optional encoder 
cable 
3) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) MR-EKCBL_M-H 
2 m/5 m (Refer to section 
2.1.) 
Accessories for linearencoder 
Cable length: 3 m 
Accessories for linear 
encoder 
Cable length: 2 m 
When fabricating 
the encoder cable 
2) Connector set MR-ECNM 
(Refer to (2) (a) of this 
section.) 
When not using a 
branch cable 
 4) Connector set MR-ECNM 
(Refer to (2) (b) of this 
section.) 
 
Note. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 13 
 
(b) For the fully closed loop system and scale measurement function 
1) MR-J4-(DU)_A_/MR-J4-(DU)_B_/MR-J4-_GF_/MR-J4W2-_B 
MR-J4-(DU)_A_/
MR-J4-(DU)_B_/
MR-J4-_GF_
Encoder cable 1
Branch cable
Encoder of rotary servo motor
CN2B
CN2A
CN2
MR-J4W2-_B
or
2)
Output cable Head cable
1)
CN2 3) SCALE
MOTOR
Linear encoder
AT543A-SC/AT545A-SC
 
 Branch cable Encoder cable Output cable Head cable 
When using an 
optional encoder 
cable 
3) MR-J4FCCBL03M 
(Refer to section 
2.5.) 
1) MR-EKCBL_M-H 
2 m/5 m (Refer to section 
2.1.) 
Accessories for linear 
encoder 
Cable length: 3 m 
Accessories for linear 
encoder 
Cable length: 2 m 
When fabricating 
the encoder cable 
2) Connector set MR-ECNM 
(Refer to (2) (a) of this 
section.) 
 
2) MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ/MR-J4-_GF_-RJ 
MR-J4-(DU)_A_-RJ/
MR-J4-(DU)_B_-RJ/
MR-J4-_GF_-RJ
Encoder of rotary servo motor
CN2
2)
1)
Encoder cable 1CN2L Linear encoder
AT543A-SC/AT545A-SC
Output cable Head cable
 
 Encoder cable Output cable Head cable 
When using an 
optional encoder 
cable 
1) MR-EKCBL_M-H 
2 m/5 m (Refer to section 
2.1.) 
Accessories for linear 
encoder 
Cable length: 3 m 
Accessories for linear 
encoder 
Cable length: 2 m 
When fabricating 
the encoder cable 
2) Connector set MR-ECNM 
(Refer to (2) (a) of this 
section.) 
 
1. LINEAR ENCODER 
1 - 14 
 
(2) Production of encoder cable 
Produce the encoder cable using MR-ECNM as shown below. The encoder cable can be produced as 
the length of maximum 30 m. 
 
(a) Encoder cable 1 
View seen from wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M) (Note 2)
(Note 2)
 
P5
LG
1
2
MR
MRR
3
4
7
Servo amplifier side Linear encoder side
SD Plate
1
2
8
9
LG (0V)
RQ
/RQ
FG
P5 (+5V)
(Note 1)
(Note 2)
 
P5
(+5 V)
LG
(0 V)
RQ
1 2 3
/RQ
4 5 6
7 8 9
FG
View seen from wiring side.
Housing: 1-172161-9
Connector pin: 170359-1
(TE Connectivity or
equivalent)
Cable clamp: MTI-0002
(Toa Electric Industrial)
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 connections 
(when the output cable is 3 m or less) 
Cable size 
to 5 m 1-pair 
to 10 m 2-pair 
AWG 22 
to 20 m 4-pair 
to 30 m 5-pair 
 
 2. For the CN2L connector, signals of pin 3 and pin 4 will be as follows. 
Pin 3: MR2 Pin 4: MRR2 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with 
any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, securely connect the external 
conductor of the shielded cable to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 15 
 
(b) Encoder cable 2 
View seen from wiring side. (Note 3)
or
View seen from wiring side. (Note 3)
Connector set: 54599-1019
(Molex)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
THM2
THM1
1
P5
3 7 9
4
MRR
2
LG
86 10
5
4
MRR
THM2
THM1
2
LG 8
6
1
P5
5
10
3 7
9
MR
MR
 
P5
LG
1
2
MR
MRR
3
4
THM1
THM2
5
6
7
Servo amplifier side Linear encoder side
1
2
8 LG
RQ
/RQ
P5
SD Plate 9 FG
(Note 1)
AWG 24 to 20
Thermistor of
linear servo
motor (Note 2)
LG (0V)
P5 (+5V)
 
View seen from wiring side.
Housing: 1-172161-9
Connector pin: 170359-1
(TE Connectivity or
equivalent)
Cable clamp: MTI-0002
(Toa Electric Industrial)
1
RQ
2 3
/RQ
4 5 6
P5
(+5 V)
7 8 9
LG
(0 V) FG
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 connections 
(when the output cable is 3 m or less) 
Cable size 
to 5 m 1-pair 
to 10 m 2-pair 
AWG 22 
to 20 m 4-pair 
to 30 m 5-pair 
 
 2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction Manual". 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with 
any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, securely connect the external 
conductor of the shielded cable to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 16 
 
1.2.3 ST741A/ST742A/ST743A/ST744A 
(1) Cable composition 
Prepare a cable based on the following configuration diagram. 
 
(a) For the linear servo motor 
1) MR-J4-_A_/MR-J4-_B_/MR-J4-_GF_/MR-J4W_-_B 
Branch cable
Encoder cable 1
Encoder cable 2
Personal
computerSoftware for
signal adjustment Conversion unit
For the signal adjustment and confirmation, connect the following equipment. (Note 3)
Head cable
Linear encoder
ST741A/ST742A/ST743A/
ST744A/ST748A
Thermistor of linear servo motor
MR-J4W_-_B
(Note 1)
or
MR-J4-_A_/
MR-J4-_B_/
MR-J4-_GF_
2) 3)
1)
CN2B
CN2A
CN2
CN2C
4) SCALECN2
3)5)
Thermistor of linear servo motor
THM (Note 4)
 
 Branch cable Encoder cable Head cable 
When using an 
optional encoder 
cable 
4) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Options manufactured by Mitutoyo (Note 2) 
Part No.06ACF117A: 5 m 
Part No.06ACF117B: 10 m 
Accessories for linear 
encoder 
Cable length: 1 m 
When fabricating 
the encoder cable 
2) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector (Note 2) 
D-SUB (female) 15 pin 
Shell: HDAB-15S 
Plug case: HDA-CTH 
(manufactured by Hirose 
Electric) 
When not using a 
branch cable 
 5) Connector set MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not have CN2C. 
 2. It should be prepared by the customer. 
 3. When mounting ST741A, ST742A, ST743A, ST744A or ST748A, a personal computer (with RS-232C port) for the signal 
adjustment and confirmation, and a software and conversion unit for signal adjustment are required. For details, contact 
Mitutoyo. 
 4. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 17 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ/MR-J4-_GF_-RJ 
MR-J4-_A_-RJ/
MR-J4-_B_-RJ/
MR-J4-_GF_-RJ
Personal
computerSoftware for
signal adjustment Conversion unit
For the signal adjustment and confirmation, connect the following equipment. (Note 2)
2)
Head cable
Linear encoder
ST741A/ST742A/ST743A/
ST744A/ST748A
3)
1)
Encoder cable 1
Thermistor of linear servo motor
Branch cable
CN2
CN2L
4) SCALE
THM (Note 3)
CN2
3)5)
Thermistor of linear servo motor
Encoder cable 2
 
 Branch cable Encoder cable Head cable 
When using an 
optional encoder 
cable 
4) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Options manufactured by Mitutoyo (Note 1) 
Part No.06ACF117A: 5 m 
Part No.06ACF117B: 10 m 
Accessories for linear 
encoder 
Cable length: 1 m 
When fabricating 
the encoder cable 
2) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector (Note 1) 
D-SUB15 pin (female) 
Shell: HDAB-15S 
Plug case: HDA-CTH 
(Hirose Electric) 
When not using a 
branch cable 
 5) Connector set MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
 
Note 1. It should be prepared by the customer. 
 2. When mounting ST741A, ST742A, ST743A, ST744A, or ST748A, a personal computer (with RS-232C port) for the signal 
adjustment and confirmation, and a software and conversion unit for signal adjustment are required. For details, contact 
Mitutoyo.3. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 18 
 
(b) For the fully closed loop system and scale measurement function 
1) MR-J4-(DU)_A_/MR-J4-(DU)_B_/MR-J4-_GF_/MR-J4W2-_B 
Personal
computerSoftware for
signal adjustment Conversion unit
For the signal adjustment and confirmation, connect the following equipment. (Note 2)
Head cable
Linear encoder
ST741A/ST742A/ST743A/
ST744A/ST748A
Encoder cable 1
Encoder of rotary servo motor
Branch cableMR-J4W2-_B
MR-J4-(DU)_A_/
MR-J4-(DU)_B_/
MR-J4-_GF_
or
2) 3)
1)
CN2 4) SCALE
MOTOR
CN2B
CN2A
CN2
 
 Branch cable Encoder cable Head cable 
When using an 
optional encoder 
cable 
4) MR-J4FCCBL03M 
(Refer to section 
2.5.) 
1) Options manufactured by Mitutoyo (Note 1) 
Part No.06ACF117A: 5 m 
Part No.06ACF117B: 10 m 
Accessories for linear 
encoder 
Cable length: 1 m 
When fabricating 
the encoder cable 
2) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector (Note 1) 
D-SUB (female) 15 Pin 
shell: HDAB-15S 
Plug case: HDA-CTH 
(manufactured by Hirose 
Electric) 
 
Note 1. It should be prepared by the customer. 
 2. When mounting ST741A, ST742A, ST743A, ST744A or ST748A, a personal computer (with RS-232C port) for the signal 
adjustment and confirmation, and a software and conversion unit for signal adjustment are required. For details, contact 
Mitutoyo. 
 
1. LINEAR ENCODER 
1 - 19 
 
2) MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ/MR-J4-_GF_-RJ 
CN2
MR-J4-(DU)_A_-RJ/
MR-J4-(DU)_B_-RJ/
MR-J4-_GF_-RJ
CN2L
Personal
computerSoftware for
signal adjustment Conversion unit
For the signal adjustment and confirmation, connect the following
equipment. (Note 2)
2)
Head cable
Linear encoder
ST741A/ST742A/ST743A/
ST744A/ST748A
3)
Encoder of rotary servo motor
1)
Encoder cable 1
 
 Encoder cable Head cable 
When using an 
optional encoder 
cable 
1) Options manufactured by Mitutoyo (Note 1) 
Part No.06ACF117A: 5 m 
Part No.06ACF117B: 10 m 
Accessories for linear 
encoder 
Cable length: 1 m 
When fabricating 
the encoder cable 
2) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector (Note 1) 
D-SUB (female) 15 pin 
Shell: HDAB-15S 
Plug case: HDA-CTH 
(manufactured by Hirose 
Electric) 
 
Note 1. It should be prepared by the customer. 
 2. When mounting ST741A, ST742A, ST743A or ST744A, a personal computer (with RS-232C port) for 
the signal adjustment and confirmation, and a software and conversion unit for signal adjustment are 
required. For details, contact Mitutoyo. 
 
1. LINEAR ENCODER 
1 - 20 
 
(2) Production of encoder cable 
Produce the load side encoder cable using MR-J3CN2 or a junction connector as shown below. The 
encoder cable can be produced as the length of maximum 30 m. 
 
(a) Encoder cable 1 
View seen from wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M) (Note 2)
(Note 2)
 
(Note 2)
P5
LG
1
2
MR
MRR
3
4
3
SD Plate 15
1 LG
FG
P5
7
8 /RQ
RQ
4
2 LG
P5
Servo amplifier side Linear encoder side
(Note 1)
 
Shell: HDAB-15S
Shield cover: HDA-CTH
(Hirose Electric or equivalent)
P5
42
LG
861
LG
5
9
3
/RQ
7
RQ
10
View seen from wiring side.
11 12 13 14 15
P5
FG
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 connections 
(when the head cable is 1 m or less) 
Cable size 
to 10 m 1-pair 
AWG 22 to 20 m 2-pair 
to 30 m 3-pair 
 
 2. For the CN2L connector, signals of pin 3 and pin 4 will be as follows. 
Pin 3: MR2 Pin 4: MRR2 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with 
any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, securely connect the external 
conductor of the shielded cable to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 21 
 
(b) Encoder cable 2 
View seen from wiring side. (Note 3)
or
View seen from wiring side. (Note 3)
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
MR
MR
THM2
THM1
THM2
THM1
 
Servo amplifier side Linear encoder side
Plate
(Note 1)
AWG 24 to 20
Thermistor of
linear servo
motor (Note 2)
P5
LG
1
SD
2
MR
MRR
3
4
THM1
THM2
5
6
3
1 LG
P5
15 FG
7
8 /RQ
RQ
4
2
P5
LG
 
Shell: HDAB-15S
Shield cover: HDA-CTH
(Hirose Electric or equivalent)
P5
42
LG
861
LG
5
9
3
/RQ
7
RQ
10
View seen from wiring side.
11 12 13 14 15
P5
FG
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 connections 
(when the head cable is 1 m or less) 
Cable size 
to 10 m 1-pair 
AWG 22 to 20 m 2-pair 
to 30 m 3-pair 
 
 2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction Manual". 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with 
any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, securely connect the external 
conductor of the shielded cable to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 22 
 
1.2.4 ST1341A/ST1342A 
(1) Cable structure 
Prepare a cable based on the following configuration diagram. 
 
(a) For the linear servo motor 
1) MR-J4-_A_/MR-J4-_B_/MR-J4-_GF_/MR-J4W_-_B 
Thermistor of linear servo motor
Branch cable
CN2B
CN2A
CN2
CN2C(Note 1)
1)
Encoder cable 1
CN2 4) SCALE
THM
or
(Note 3)
Thermistor of linear servo motor
Encoder cable 2
MR-J4-_A_/
MR-J4-_B_/
MR-J4-_GF_
MR-J4W_-_B
Linear encoder
ST1341A/ST1342A
2)
Head cable
3)
3)5)
 
 Branch cable Encoder cable Head cable 
When using an 
optional encoder 
cable 
4) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Options manufactured by Mitutoyo (Note 2) 
Part No.06ACF117A: 5 m 
Part No.06ACF117B: 10 m 
Accessories for linear 
encoder 
Cable length: 1 m 
When fabricating 
the encoder cable 
 2) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector (Note 2) 
D-SUB (female) 15 pin 
Shell: HDAB-15S 
Plug case: HDA-CTH 
(Hirose Electric) 
 
When not using a 
branch cable 
 5) Connector set MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
 
Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not have CN2C. 
 2. It should be prepared by the customer. 
 3. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 23 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ/MR-J4-_GF_-RJ 
MR-J4-_A_-RJ/
MR-J4-_B_-RJ/
MR-J4-_GF_-RJ
2)
Head cable
Linear encoder
ST1341A/ST1342A
3)
1)
Encoder cable 1
Thermistor of linear servo motor
Branch cable
CN2
CN2L
4) SCALE
THM (Note 2)
CN2
3)5)
Thermistor of linear servo motor
Encoder cable 2
 
 Branch cable Encoder cable Head cable 
When using an 
optional encoder 
cable 
4) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Options manufactured by Mitutoyo (Note 1) 
Part No.06ACF117A: 5 m 
Part No.06ACF117B: 10 m 
Accessories for linear 
encoder 
Cable length: 1 m 
When fabricating 
the encoder cable 
2) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector (Note 1) 
D-SUB15 pin (female) 
Shell: HDAB-15S 
Plug case: HDA-CTH 
(Hirose Electric) 
When not using a 
branch cable 
 5) Connector set MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
 
Note 1. It should be prepared by the customer. 
 2. For connectorsfor thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 24 
 
(b) For the fully closed loop system and scale measurement function 
1) MR-J4-(DU)_A_/MR-J4-(DU)_B_/MR-J4-_GF_/MR-J4W2-_B 
Head cable
Linear encoder
ST1341A/ST1342A
Encoder cable 1
Encoder of rotary servo motor
Branch cableMR-J4W2-_B
MR-J4-(DU)_A_/
MR-J4-(DU)_B_/
MR-J4-_GF_
or
2) 3)
1)
CN2 4) SCALE
MOTOR
CN2B
CN2A
CN2
 
 Branch cable Encoder cable Head cable 
When using an 
optional encoder 
cable 
4) MR-J4FCCBL03M 
(Refer to section 
2.5.) 
1) Options manufactured by Mitutoyo (Note) 
Part No.06ACF117A: 5 m 
Part No.06ACF117B: 10 m 
Accessories for linear 
encoder 
Cable length: 1 m 
When fabricating 
the encoder cable 
2) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector (Note) 
D-SUB (female) 15 Pin 
shell: HDAB-15S 
Plug case: HDA-CTH 
(manufactured by Hirose 
Electric) 
 
Note. It should be prepared by the customer. 
 
2) MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ/MR-J4-_GF_-RJ 
CN2
MR-J4-(DU)_A_-RJ/
MR-J4-(DU)_B_-RJ/
MR-J4-_GF_-RJ
CN2L
2)
Head cable
Linear encoder
ST1341A/ST1342A
3)
Encoder of rotary servo motor
1)
Encoder cable 1
 
 Encoder cable Head cable 
When using an 
optional encoder 
cable 
1) Options manufactured by Mitutoyo (Note) 
Part No.06ACF117A: 5 m 
Part No.06ACF117B: 10 m 
Accessories for linear 
encoder 
Cable length: 1 m 
When fabricating 
the encoder cable 
2) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector (Note) 
D-SUB (female) 15 pin 
Shell: HDAB-15S 
Plug case: HDA-CTH 
(manufactured by Hirose 
Electric) 
 
Note. It should be prepared by the customer. 
 
1. LINEAR ENCODER 
1 - 25 
 
(2) Production of encoder cable 
Produce the load side encoder cable using MR-J3CN2 or a junction connector as shown below. The 
encoder cable can be produced as the length of maximum 30 m. 
 
(a) Encoder cable 1 
View seen from wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M) (Note 2)
(Note 2)
 
(Note 2)
P5
LG
1
2
MR
MRR
3
4
3
SD Plate 15
1 LG
FG
P5
7
8 MRR
MR
4
2 LG
P5
Servo amplifier side Linear encoder side
(Note 1)
 
Shell: HDAB-15S
Shield cover: HDA-CTH
(Hirose Electric or equivalent)
P5
42
LG
861
LG
5
9
3
MRR
7
MR
10
View seen from wiring side.
11 12 13 14 15
P5
FG
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 connections 
(when the head cable is 1 m or less) 
Cable size 
to 10 m 1-pair 
AWG 22 to 20 m 2-pair 
to 30 m 3-pair 
 
 2. For the CN2L connector, signals of pin 3 and pin 4 will be as follows. 
Pin 3: MR2 Pin 4: MRR2 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with 
any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, securely connect the external 
conductor of the shielded cable to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 26 
 
(b) Encoder cable 2 
View seen from wiring side. (Note 3)
or
View seen from wiring side. (Note 3)
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
MR
MR
THM2
THM1
THM2
THM1
 
Servo amplifier side Linear encoder side
Plate
(Note 1)
AWG 24 to 20
Thermistor of
linear servo
motor (Note 2)
P5
LG
1
SD
2
MR
MRR
3
4
THM1
THM2
5
6
3
1 LG
P5
15 FG
7
8 MRR
MR
4
2
P5
LG
 
Shell: HDAB-15S
Shield cover: HDA-CTH
(Hirose Electric or equivalent)
P5
42
LG
861
LG
5
9
3
MRR
7
MR
10
View seen from wiring side.
11 12 13 14 15
P5
FG
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 connections 
(when the head cable is 1 m or less) 
Cable size 
to 10 m 1-pair 
AWG 22 to 20 m 2-pair 
to 30 m 3-pair 
 
 2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction Manual". 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with 
any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, securely connect the external 
conductor of the shielded cable to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 27 
 
1.3 Linear encoder manufactured by Heidenhain 
 
POINT 
When the absolute position detection system is configured, the absolute position 
battery is not required. 
 
1.3.1 LC 495M/LC 195M (absolute type) 
 
POINT 
This linear encoder is of four-wire type. When using this linear encoder, change 
the parameter to select the four-wire type. For changing parameters, refer to 
each servo amplifier instruction manual. 
When using a linear encoder of four-wire type with fully closed loop control, use 
an MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ. 
When using a linear encoder of four-wire type with scale measurement function, 
use an MR-J4-(DU)_B_-RJ. 
 
1. LINEAR ENCODER 
1 - 28 
 
(1) Cable composition 
Prepare a cable based on the following configuration diagram. 
 
(a) For the linear servo motor 
1) MR-J4-_A_/MR-J4-_B_/MR-J4-_GF_/MR-J4W_-_B 
Encoder cable 2
Encoder cable 1
Thermistor of linear servo motor
Branch cable
(Note 1)
THM (Note 3)
Linear encoder
LC 495M/LC 195M
2)
1)
3)
4) Output cable
CN2B
CN2A
CN2
CN2C
CN2 5) SCALE
Thermistor of linear servo motor
3)6)
MR-J4W_-_B
or
MR-J4-_A_/
MR-J4-_B_/
MR-J4-_GF_
 
 Branch cable Encoder cable 
Output cable 
LC 495M/LC 195M 
When using an 
optional encoder 
cable 
5) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Options manufactured by Heidenhain (Note 2) 
573661-×× _m 
4) 547300-×× _m 
(Heidenhain) 
(Note 2) 
When fabricating 
the encoder cable 
2) Connector set 
MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector (Note 2) 
17-pin coupling (female) 
291697-26 (Heidenhain) 
When not using a 
branch cable 
 6) Connector set 
MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not have CN2C. 
 2. It should be prepared by the customer. 
 3. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 29 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ/MR-J4-_GF_-RJ 
Linear encoder
LC 495M/LC 195M
2)
1)
3)
Encoder cable 1
4) Output cable
Thermistor of linear servo motor
Branch cable
CN2
CN2L
MR-J4-_A_-RJ/
MR-J4-_B_-RJ/
MR-J4-_GF_-RJ
CN2 5) SCALE
THM (Note 2)
Thermistor of linear servo motor
3)6)
Encoder cable 2
 
 Branch cable Encoder cable 
Output cable 
LC 495M/LC 195M 
When using an 
optional encoder 
cable 
5) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Options manufactured by Heidenhain (Note 1) 
573661-×× _m 
4) 547300-×× _m 
(Heidenhain) 
(Note 1) 
When fabricating 
the encoder cable 
2) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector 
(Note 1) 
17-pin coupling (female) 
291697-26 
(Heidenhain) 
When not using a 
branch cable 
 6) Connector set MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
 
Note 1. It should be prepared by the customer. 
 2. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
(b) When using for fully closed loop system and scale measurement function 
MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ/MR-J4-_GF_-RJ 
Linear encoder
LC 495M/LC 195M
2)
1)
3)
Encoder cable 1
4) Output cable
CN2
CN2L
MR-J4-(DU)_A_-RJ/
MR-J4-(DU)_B_-RJ/MR-J4-_GF_-RJ
Encoder of rotary servo motor
 
 Encoder cable 
Output cable 
LC 495M/LC 195M 
When using an 
optional encoder 
cable 
1) Options manufactured by Heidenhain (Note 1) 573661-×× _m 4) 547300-×× _m 
(Heidenhain) 
(Note) 
When fabricating 
the encoder cable 
2) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector (Note) 
17-pin coupling (female) 
291697-26 
(Heidenhain) 
 
 
Note. It should be prepared by the customer. 
 
1. LINEAR ENCODER 
1 - 30 
 
(2) Production of encoder cable 
Produce the encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder 
cable can be produced as the length of maximum 30 m. 
 
(a) Encoder cable 1 
MXR
MX
MXR
MX
View seen from wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M) (Note 2)
(Note 2)
 
(Note 2)
(Note 2)
Connector: 17-pin coupling
291697-26 (female)
(Heidenhain)
P5
LG
1
2
7
Servo amplifier side Linear encoder side
10 0V
5V
MX
MXR
SD
7
8
Plate
14
17 /SD
FG
SD
1
4 0V/Sensor
5V/Sensor
MR
MRR
3
4
8
9 /RQ
RQ
(Note 1)
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 connections 
(when the output cable is 1 m or less) 
Cable size 
to 10 m 1-pair 
AWG 22 to 20 m 2-pair 
to 30 m 3-pair 
 
 2. For the CN2L connector, signals of pin 3, pin 4, pin 7, and pin 8 will be as follows. 
Pin 3: MR2 Pin 4: MRR2 Pin 7: MX2 Pin 8: MXR2 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer 
adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 
Referring to POINT of chapter 1, securely connect the external conductor of the shielded cable to 
the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 31 
 
(b) Encoder cable 2 
View seen from wiring side. (Note 3)
or
View seen from wiring side. (Note 3)
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
MXR
MX
MXR
MX
1
P5
3 7 9
4
MRR
2
LG
86 10
5
4
MRR
THM2
THM1
THM2
THM1
2
LG 8
6
1
P5
5
10
3 7
9
MR
MR
 
Connector: 17-pin coupling
291697-26 (female)
(Heidenhain)
Servo amplifier side Linear encoder side
0V/Sensor
5V/Sensor
(Note 1)
AWG 24 to 20
Thermistor of
linear servo
motor (Note 2)
THM1
THM2
5
6
P5
LG
1
2
7
10 0V
5V
MX
MXR
SD
7
8
Plate
14
17 /SD
FG
SD
1
4
MR
MRR
3
4
8
9 /RQ
RQ
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 connections 
(when the output cable is 1 m or less) 
Cable size 
to 10 m 1-pair 
AWG 22 to 20 m 2-pair 
to 30 m 3-pair 
 
 2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction 
Manual". 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer 
adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 
Referring to POINT of chapter 1, securely connect the external conductor of the shielded 
cable to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 32 
 
1.3.2 LIC 4193M/LIC 4195M/LIC 4197M/LIC 4199M/LIC 2197M/LIC 2199M 
 
POINT 
These linear encoders have two-wire type and four-wire type. When using a 
four-wire type linear encoder, change the parameter to select the four-wire type. 
For changing parameters, refer to each servo amplifier instruction manual. 
When using a linear encoder of four-wire type with fully closed loop control, use 
an MR-J4-(DU)_A_-RJ, MR-J4-(DU)_B_-RJ, or MR-J4-_GF_-RJ. 
When using a linear encoder of four-wire type with scale measurement function, 
use an MR-J4-(DU)_B_-RJ or MR-J4-_GF_-RJ. 
 
1. LINEAR ENCODER 
1 - 33 
 
(1) Cable structure 
Prepare a cable based on the following configuration diagram. 
 
(a) For the linear servo motor 
1) MR-J4-_A_/MR-J4-_B_/MR-J4-_GF_/MR-J4W_-_B 
Linear encoder
LIC 4193M/LIC 4195M/LIC 4197M/
LIC 4199M/LIC 2197M/LIC 2199M
Personal
computerSoftware for
signal adjustment Measuring device
For the signal adjustment and confirmation, connect the following equipment. (Note 4)
Head cable
Encoder cable 1, 2
Thermistor of
linear servo motor
Branch cable
MR-J4W_-_B
(Note 1)
or
MR-J4-_A_/
MR-J4-_B_/
MR-J4-_GF_
CN2B
CN2A
CN2
CN2C
4) SCALECN2
THM (Note 3)
Encoder cable 3, 4
1)
3)2)
3)
5)
Thermistor of linear servo motor
 
 branch cable Encoder cable Head cable 
When using an 
optional encoder 
cable 
4) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Options manufactured by Heidenhain 
(Note 2) 
630 856-×× _m 
Accessories for 
linear encoder 
Cable length: 1 m 
When fabricating 
the encoder cable 
 2) Connector set 
MR-J3CN2 
(Refer to (2) (a), 
(b) of this 
section.) 
3) Junction 
connector 
(Note 2) 
D-SUB15 pin 
(female) 
When not using a 
branch cable 
 5) Connector set 
MR-J3CN2 
(Refer to (2) (c), 
(d) of this 
section.) 
 
Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not 
have CN2C. 
 2. It should be prepared by the customer. 
 3. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 4. When you mount LIC 4193M, LIC 4195M, LIC 4197M, LIC 4199M, LIC 2197M, or LIC 2199M, a 
personal computer (with a USB port) for the signal adjustment and confirmation, and a software and 
measuring device for signal adjustment are required. For details, contact Heidenhain. 
 
1. LINEAR ENCODER 
1 - 34 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ/MR-J4-_GF_-RJ 
Linear encoder
LIC 4193M/LIC 4195M/LIC 4197M/
LIC 4199M/LIC 2197M/LIC 2199M
Personal
computerSoftware for
signal adjustment Measuring device
For the signal adjustment and confirmation, connect the following equipment. (Note 3)
Head cable
Encoder cable 1, 2
Thermistor of
linear servo motor
Branch cable
Encoder cable 3, 4
Thermistor of linear servo motor
MR-J4-_A_-RJ/
MR-J4-_B_-RJ/
MR-J4-_GF_-RJ
1)
CN2
CN2L CN2 4) SCALE
THM (Note 2)
3)
5)
3)2)
 
 branch cable Encoder cable Head cable 
When using an 
optional encoder 
cable 
4) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Options manufactured by Heidenhain 
(Note 1) 
630 856-×× _m 
Accessories for 
linear encoder 
Cable length: 1 m 
When fabricating 
the encoder cable 
 2) Connector set 
MR-J3CN2 
(Refer to (2) (a), 
(b) of this 
section.) 
3) Junction 
connector 
(Note 1) 
D-SUB15 pin 
(female) 
When not using a 
branch cable 
 5) Connector set 
MR-J3CN2 
(Refer to (2) (c), 
(d) of this 
section.) 
 
Note 1. It should be prepared by the customer. 
 2. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 3. When you mount LIC 4193M, LIC 4195M, LIC 4197M, LIC 4199M, LIC 2197M, or LIC 2199M, a 
personal computer (with a USB port) for the signal adjustment and confirmation, and a software and 
measuring device for signal adjustment are required. For details, contact Heidenhain. 
 
1. LINEAR ENCODER 
1 - 35 
 
(b) When using for fully closed loop system and scale measurement function 
1) MR-J4-(DU)_A_/MR-J4-(DU)_B_/MR-J4-_GF_/MR-J4W2-_B (two-wire type only) 
Linear encoder
LIC 4193M/LIC 4195M/LIC 4197M/
LIC 4199M/LIC 2197M/LIC 2199M
Personal
computerSoftware for
signal adjustment Measuring device
For the signal adjustment and confirmation, connect the following equipment. (Note 2)
Head cable
Encoder cable 1, 2
Thermistor of
linear servo motor
Branch cable
or
4) SCALECN2
MOTOR
MR-J4-(DU)_A_/
MR-J4-(DU)_B_/
MR-J4-_GF_
1)
3)2)
CN2B
CN2A
CN2
MR-J4W2-_B
 
 branch cable Encoder cable Head cable 
When using an 
optional encoder 
cable 
4) MR-J4FCCBL03M(Refer to section 
2.5.) 
1) Options manufactured by Heidenhain 
(Note 1) 
630 856-×× _m 
Accessories for 
linear encoder 
Cable length: 1 m 
When fabricating 
the encoder cable 
 2) Connector set 
MR-J3CN2 
(Refer to (2) (a) 
in this section.) 
3) Junction 
connector 
(Note 1) 
D-SUB15 pin 
(female) 
 
Note 1. It should be prepared by the customer. 
 2. When you mount LIC 4193M, LIC 4195M, LIC 4197M, LIC 4199M, LIC 2197M, or LIC 2199M, a 
personal computer (with a USB port) for the signal adjustment and confirmation, and a software and 
measuring device for signal adjustment are required. For details, contact Heidenhain. 
 
1. LINEAR ENCODER 
1 - 36 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ servo amplifier or MR-J4-DU_A_-RJ/MR-J4-DU_B_-RJ drive unit 
Linear encoder
LIC 4193M/LIC 4195M/LIC 4197M/
LIC 4199M/LIC 2197M/LIC 2199M
Personal
computerSoftware for
signal adjustment Measuring device
For the signal adjustment and confirmation, connect the following
equipment. (Note 2)
Head cable
Encoder cable 1, 2
MR-J4-(DU)_A_-RJ/
MR-J4-(DU)_B_-RJ/
MR-J4-_GF_-RJ
1)
3)2)
CN2
CN2L
Encoder of rotary servo motor
 
 Encoder cable Head cable 
When using an 
optional encoder 
cable 
1) Options manufactured by Heidenhain 
(Note 1) 
630 856-×× _m 
Accessories for 
linear encoder 
Cable length: 1 m 
When fabricating 
the encoder cable 
2) Connector set 
MR-J3CN2 
(Refer to (2) (a), 
(b) of this 
section.) 
3) Junction 
connector 
(Note 1) 
D-SUB15 pin 
(female) 
 
Note 1. It should be prepared by the customer. 
 2. When you mount LIC 4193M, LIC 4195M, LIC 4197M, LIC 4199M, LIC 2197M, 
or LIC 2199M, a personal computer (with a USB port) for the signal adjustment 
and confirmation, and a software and measuring device for signal adjustment 
are required. For details, contact Heidenhain. 
 
1. LINEAR ENCODER 
1 - 37 
 
(2) Fabrication of the encoder cable 
Produce the load-side encoder cable using MR-J3CN2 or a junction connector as shown below. The 
encoder cable can be produced as the length of maximum 30 m. 
 
(a) Encoder cable 1 (two-wire type) 
View seen from the wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from the wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
Connector set (optional)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M) (Note 2)
(Note 2)
 
Connector: D-SUB
(female) 15 pin
P5
LG
1
2
Servo amplifier side Linear encoder side
0V
5V
SD Plate
0V/Sensor
5V/Sensor
MR
MRR
3
4 /RQ, /SD
RQ, SD
(Note 1)
4
2
FG
12
10
8
15
(Note 2)
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 
connections 
Wire size 
to 5 m 1-pair 
to 10 m 2-pair 
AWG 22 
to 20 m 3-pair 
to 30 m 4-pair 
 
 2. For the CN2L connector, signals of pin 3 and pin 4 will be as follows. 
Pin 3: MR2 
Pin 4: MRR2 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer 
adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 
Referring to POINT of chapter 1, securely connect the external conductor of the shielded cable to 
the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 38 
 
(b) Encoder cable 2 (four-wire type) 
MXR
MX
MXR
MX
View seen from the wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from the wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
Connector set (optional)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M) (Note 2)
(Note 2)
 
Connector: D-SUB
(female) 15 pin
P5
LG
1
2
Servo amplifier side Linear encoder side
0V
5V
MX
MXR
SD
7
8
Plate
/SD
SD
0V/Sensor
5V/Sensor
MR
MRR
3
4 /RQ
RQ
(Note 1)
4
2
FG
5
13
12
10
8
15
(Note 2)
(Note 2)
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 
connections 
Wire size 
to 5 m 1-pair 
to 10 m 2-pair 
AWG 22 
to 20 m 3-pair 
to 30 m 4-pair 
 
 2. For the CN2L connector, signals of pin 3, pin 4, pin 7, and pin 8 will be as follows. 
Pin 3: MR2 
Pin 4: MRR2 
Pin 7: MX2 
Pin 8: MXR2 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer 
adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 
Referring to POINT of chapter 1, securely connect the external conductor of the shielded cable to 
the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 39 
 
(c) Encoder cable 3 (two-wire type) 
View seen from the wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from the wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
THM2
THM1
THM2
THM1
Connector set (optional)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
AWG 24 to 20
Thermistor of
linear servo motor
(Note 2)
THM1
THM2
5
6
Connector: D-SUB
(female) 15 pin
P5
LG
1
2
Servo amplifier side Linear encoder side
0V
5V
SD Plate
0V/Sensor
5V/Sensor
MR
MRR
3
4 /RQ, /SD
RQ, SD
(Note 1)
4
2
FG
12
10
8
15
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 
connections 
Wire size 
to 5 m 1-pair 
to 10 m 2-pair 
AWG 22 
to 20 m 3-pair 
to 30 m 4-pair 
 
 2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction 
Manual". 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer 
adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 
Referring to POINT of chapter 1, securely connect the external conductor of the shielded cable 
to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 40 
 
(d) Encoder cable 4 (four-wire type) 
MXR
MX
MXR
MX
View seen from the wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from the wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
THM2
THM1
THM2
THM1
Connector set (optional)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
AWG 24 to 20
Thermistor of
linear servo motor
(Note 2)
THM1
THM2
5
6
Connector: D-SUB
(female) 15 pin
P5
LG
1
2
Servo amplifier side Linear encoder side
0V
5V
MX
MXR
SD
7
8
Plate
/SD
SD
0V/Sensor
5V/Sensor
MR
MRR
3
4 /RQ
RQ
(Note 1)
4
2
FG
5
13
12
10
8
15
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 
connections 
Wire size 
to 5 m 1-pair 
to 10 m 2-pair 
AWG 22 
to 20 m 3-pair 
to 30 m 4-pair 
 
 2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction 
Manual". 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer 
adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 
Referring to POINT of chapter 1, securely connect the external conductor of the shielded cable 
to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 41 
 
1.3.3 LIDA 483/LIDA 485/LIDA 487/LIDA 489/LIDA 287/LIDA 289/LIF 481/LIP 581 (incremental type) 
 
POINT 
This linear encoder is of four-wire type. When using this linear encoder, change 
the parameter to select the four-wire type. For changing parameters, refer to 
each servo amplifier instruction manual. 
When using a linear encoder of four-wire type with fully closed loop control, use 
an MR-J4-(DU)_A_-RJ, MR-J4-(DU)_B_-RJ, or MR-J4-_GF_-RJ. 
When using a linear encoder of four-wire type with scale measurement function, 
use an MR-J4-(DU)_B_-RJ or MR-J4-_GF_-RJ. 
 
1. LINEAR ENCODER 
1 - 42 
 
(1) Cable compositionPrepare a cable based on the following configuration diagram. 
 
(a) For the linear servo motor 
1) MR-J4-_A_/MR-J4-_B_/MR-J4-_GF_/MR-J4W_-_B 
Branch cable
Encoder cable 1
Encoder cable 2
Personal
computerSoftware for
signal adjustment Measuring device
For the signal adjustment and confirmation, connect the following equipment. (Note 4)
Head cable
Thermistor of linear servo motor
MR-J4W_-_B
(Note 1)
or
MR-J4-_A_/
MR-J4-_B_/
MR-J4-_GF_
CN2B
CN2A
CN2
CN2C
Thermistor of linear servo motor
THM (Note 3)
1)
3)2)
Serial interface conversion unit
CN2 4) SCALE
3)
5)
Linear encoder
LIDA 483/LIDA 485/LIDA 487/
LIDA 489/LIDA 287/LIDA 289/
LIF 481/LIP 581
 
 Branch cable Encoder cable 
Serial interface 
conversion unit 
Head cable 
When using an 
optional encoder 
cable 
4) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Options manufactured by Heidenhain 
(Note 2) 
630 856-×× _m 
EIB 392M 
Cable length: 0.5 m 
(Heidenhain) 
(Note 2) 
Accessories for 
linear encoder 
Cable length: 3 m 
When fabricating 
the encoder cable 
2) Connector set 
MR-J3CN2 
(Refer to (2) (a) 
in this section.) 
3) Junction 
connector 
(Note 2) 
D-SUB15 pin 
(female) When not using a 
branch cable 
 5) Connector set 
MR-J3CN2 
(Refer to (2) (b) 
in this section.) 
 
Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not have CN2C. 
 2. It should be prepared by the customer. 
 3. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 4. When you mount LIDA 483, LIDA 485, LIDA 487, LIDA 489, LIDA 287, or LIDA 289, a personal computer (with a USB port) for 
the signal adjustment and confirmation, and a software and measuring device for signal adjustment are required. For details, 
contact Heidenhain. 
 
1. LINEAR ENCODER 
1 - 43 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ/MR-J4-_GF_-RJ 
Branch cable
Encoder cable 1
Encoder cable 2
Personal
computerSoftware for
signal adjustment Measuring device
For the signal adjustment and confirmation, connect the following equipment. (Note 3)
Head cable
Thermistor of linear servo motor
Thermistor of linear servo motor
THM (Note 2)
Serial interface conversion unit
Linear encoder
LIDA 483/LIDA 485/LIDA 487/
LIDA 489/LIDA 287/LIDA 289/
LIF 481/LIP 581
MR-J4-_A_-RJ/
MR-J4-_B_-RJ/
MR-J4-_GF_-RJ
1)
3)2)
CN2
CN2L
CN2 4) SCALE
3)
5)
 
 Branch cable Encoder cable 
Serial interface 
conversion unit 
Head cable 
When using an 
optional encoder 
cable 
4) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Options manufactured by Heidenhain 
(Note 1) 
630 856-×× _m 
EIB 392M 
Cable length: 0.5 m 
(Heidenhain) 
(Note 1) 
Accessories for 
linear encoder 
Cable length: 3 m 
When fabricating 
the encoder cable 
2) Connector set 
MR-J3CN2 
(Refer to (2) (a) 
in this section.) 
3) Junction 
connector 
(Note 1) 
D-SUB15 pin 
(female) When not using a 
branch cable 
 5) Connector set 
MR-J3CN2 
(Refer to (2) (b) 
in this section.) 
 
Note 1. It should be prepared by the customer. 
 2. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 3. When you mount LIDA 483, LIDA 485, LIDA 487, LIDA 489, LIDA 287, or LIDA 289, a personal computer (with a USB port) for 
the signal adjustment and confirmation, and a software and measuring device for signal adjustment are required. For details, 
contact Heidenhain. 
 
1. LINEAR ENCODER 
1 - 44 
 
(b) When using for fully closed loop system and scale measurement function 
MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ/MR-J4-_GF_-RJ 
Encoder cable 1
Personal
computerSoftware for
signal adjustment Measuring device
For the signal adjustment and confirmation, connect the following equipment. (Note 2)
Head cable
Serial interface conversion unit
Linear encoder
LIDA 483/LIDA 485/LIDA 487/
LIDA 489/LIDA 287/LIDA 289/
LIF 481/LIP 581
MR-J4-(DU)_A_-RJ/
MR-J4-(DU)_B_-RJ/
MR-J4-_GF_-RJ
1)
3)2)
CN2
CN2L
Encoder of rotary servo motor
 
 Encoder cable 
Serial interface 
conversion unit 
Head cable 
When using an 
optional encoder 
cable 
1) Options manufactured by Heidenhain 
(Note 1) 
630 856-×× _m 
EIB 392M 
Cable length: 0.5 m 
(Heidenhain) 
(Note) 
Accessories for 
linear encoder 
Cable length: 3 m 
When fabricating 
the encoder cable 
2) Connector set 
MR-J3CN2 
(Refer to (2) (a) 
in this section.) 
3) Junction 
connector 
(Note 1) 
D-SUB15 pin 
(female) 
 
Note 1. It should be prepared by the customer. 
 2. When you mount LIDA 483, LIDA 485, LIDA 487, LIDA 489, LIDA 287, or LIDA 289, a personal 
computer (with a USB port) for the signal adjustment and confirmation, and a software and measuring 
device for signal adjustment are required. For details, contact Heidenhain. 
 
1. LINEAR ENCODER 
1 - 45 
 
(2) Production of encoder cable 
Produce the encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder 
cable can be produced as the length of maximum 30 m. 
 
(a) Encoder cable 1 
MXR
MX
MXR
MX
View seen from wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M) (Note 2)
(Note 2)
 
Connector: D-SUB (female) 15-pin
P5
LG
1
2
Servo amplifier side Linear encoder side
0V
5V
MX
MXR
SD
7
8
Plate
/SD
SD
0V/Sensor
5V/Sensor
MR
MRR
3
4 /RQ
RQ
(Note 1)
4
2
FG
5
13
12
10
8
15
(Note 2)
(Note 2)
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length Number of LG and P5 connections Cable size 
to 5 m 1-pair 
to 10 m 2-pair 
AWG 22 
to 20 m 3-pair 
to 30 m 4-pair 
 
 2. For the CN2L connector, signals of pin 3, pin 4, pin 7, and pin 8 will be as follows. 
Pin 3: MR2 Pin 4: MRR2 Pin 7: MX2 Pin 8: MXR2 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer 
adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 
Referring to POINT of chapter 1, securely connect the external conductor of the shielded cable to 
the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 46 
 
(b) Encoder cable 2 
View seen from wiring side. (Note 3)
or
View seen from wiring side. (Note 3)
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
MXR
MX
MXR
MX
1
P5
3 7 9
4
MRR
2
LG
86 10
5
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
MR
MR
THM2
THM1
THM2
THM1
 
Connector: D-SUB (female) 15-pin
0V/Sensor
5V/Sensor
Servo amplifier side Linear encoder side
Plate
(Note 1)
Thermistor of
linear servo
motor (Note 2)
AWG 24 to 20
THM1
THM2
5
6
P5
LG
1
2 0V
5V
MX
MXR
SD
7
8 /SD
SD
MR
MRR
3
4 /RQ
RQ
4
2
FG
5
13
12
10
8
15
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length Number of LG and P5 connections Cable size 
to 5 m 1-pair 
to 10 m 2-pair 
AWG 22 
to 20 m 3-pair 
to 30 m 4-pair 
 
 2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction 
Manual". 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer 
adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 
Referring to POINT of chapter 1, securely connect the external conductor of the shielded 
cable to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 47 
 
1.4 Linear encoder manufactured by Magnescale 
 
POINT 
SR27A, SR67A, SR77, and SR87 are absolute type. SR75 and SR85 are 
incremental position type. 
When the absolute position detection system is configured, the absolute position 
battery is not required. 
 
1.4.1 SR77/SR87/SR75/SR85 
(1) Cable composition 
Prepare a cable based on the followingconfiguration diagram. 
 
(a) For the linear servo motor 
1) MR-J4-_A_/MR-J4-_B_/MR-J4-_GF_/MR-J4W_-_B 
Linear encoder
SR77/SR87/SR75/SR85
(Note 2) Encoder cable (model: CH33)
Thermistor of linear servo motor
Branch cable
MR-J4THCBL03M
CN2B
CN2A
CN2
CN2C
MR-J4W_-_B
MR-J4-_A_/
MR-J4-_B_/
MR-J4-_GF_
(Note 1)
CN2 SCALE
THM
or
(Note 3)
 
Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not have CN2C. 
 2. This option is manufactured by Magnescale. It should be prepared by the customer. 
 3. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ/MR-J4-_GF_-RJ 
MR-J4-_A_-RJ/
MR-J4-_B_-RJ/
MR-J4-_GF_-RJ Linear encoder
SR77/SR87/SR75/R85
(Note 1) Encoder cable (model: CH33)
Thermistor of linear servo motor
Branch cable
MR-J4THCBL03M
CN2
CN2L
CN2 SCALE
THM (Note 2)
 
Note 1. This option is manufactured by Magnescale. It should be prepared by the customer. 
 2. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 48 
 
(b) For the fully closed loop system and scale measurement function 
1) MR-J4-(DU)_A_/MR-J4-(DU)_B_/MR-J4-_GF_/MR-J4W2-_B 
CN2B
CN2A
CN2
MR-J4-(DU)_A_/
MR-J4-(DU)_B_/
MR-J4-_GF_
or
Linear encoder
SR77/SR87/SR75/SR85
(Note) Encoder cable (model: CH33)
Encoder of rotary servo motor
Branch cable
MR-J4FCCBL03M
CN2 SCALE
MOTOR
MR-J4W2-_B
 
Note. This option is manufactured by Magnescale. It should be prepared by the customer. 
 
2) MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ/MR-J4-_GF_-RJ 
(Note) Encoder cable (model: CH33)
Encoder of rotary servo motor
CN2
MR-J4-(DU)_A_-RJ/
MR-J4-(DU)_B_-RJ/
MR-J4-_GF_-RJ
CN2L
Linear encoder
SR77/SR87/SR75/SR85
 
Note. This option is manufactured by Magnescale. It should be prepared by the customer. 
 
1. LINEAR ENCODER 
1 - 49 
 
1.4.2 SL710 + PL101-RM/RHM (incremental type) 
(1) Cable composition 
Prepare a cable based on the following configuration diagram. 
 
(a) For the linear servo motor 
1) MR-J4-_A_/MR-J4-_B_/MR-J4-_GF_/MR-J4W_-_B 
Encoder cable 1
Thermistor of linear servo motor
Branch cable
MR-J4W_-_B
MR-J4-_A_/
MR-J4-_B_/
MR-J4-_GF_
(Note 1)
THM
or
(Note 3)
2) 3)
Interpolator
MJ832
Linear encoder
SL710
CN2B
CN2A
CN2
CN2C
1)
CN2 4) SCALE
PL101-RM/RHM
Thermistor of linear servo motor
3)5)
Encoder cable 2
 
 
 Branch cable Encoder cable Interpolator 
When using an 
optional encoder 
cable 
4) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Options manufactured by Magnescale (Note 2) 
CE33-_ 
Accessories for linear 
encoder 
MJ832 
When fabricating 
the encoder cable 
2) Connector set 
MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector (Note 2) 
Plug: 36110-3000FD 
Shell kit: 36310-F200-008 
(3M or equivalent) 
When not using a 
branch cable 
 5) Connector set 
MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not have CN2C. 
 2. It should be prepared by the customer. 
 3. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 50 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ/MR-J4-_GF_-RJ 
MR-J4-_A_-RJ/
MR-J4-_B_-RJ/
MR-J4-_GF_-RJ
2) 3)
Interpolator
MJ832
Linear encoder
SL710
Thermistor of linear servo motor
Branch cable
CN2
CN2L
1)
Encoder cable 1
CN2 4) SCALE
THM (Note 2)
PL101-RM/RHM
Thermistor of linear servo motor
3)5)
Encoder cable 2
 
 Branch cable Encoder cable Interpolator 
When using an 
optional encoder 
cable 
4) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Options manufactured by Magnescale (Note 1) 
CE33-_ 
Accessories for linear 
encoder 
MJ832 
When fabricating 
the encoder cable 
2) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector (Note 1) 
Plug: 36110-3000FD 
Shell kit: 36310-F200-008 
(3M or equivalent) When not using a 
branch cable 
 5) Connector set MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
 
Note 1. It should be prepared by the customer. 
 2. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 51 
 
(b) For the fully closed loop system and scale measurement function 
1) MR-J4-(DU)_A_/MR-J4-(DU)_B_/MR-J4-_GF_/MR-J4W2-_B 
Encoder cable 1
Encoder of rotary servo motor
Branch cableMR-J4W2-_B
MR-J4-(DU)_A_/
MR-J4-(DU)_B_/
MR-J4-_GF_
or
Interpolator
MJ832
Linear encoder
CN2 4) SCALE
SL710
PL101-RM/RHM
1)
CN2 4) SCALE
MOTOR
CN2B
CN2A
CN2
2) 3)
 
 
 Branch cable Encoder cable Interpolator 
When using an 
optional encoder 
cable 
4) MR-J4FCCBL03M 
(Refer to section 
2.5.) 
1) Options manufactured by Magnescale (Note) 
CE33-_ 
Accessories for linear 
encoder 
MJ832 
When fabricating 
the encoder cable 
2) Connector set 
MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector (Note) 
Plug: 36110-3000FD 
Shell kit: 36310-F200-008 
(3M or equivalent) 
 
Note. It should be prepared by the customer. 
 
2) MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ/MR-J4-_GF_-RJ 
Encoder of rotary servo motor
CN2
MR-J4-(DU)_A_-RJ/
MR-J4-(DU)_B_-RJ/
MR-J4-_GF_-RJ
CN2L
2) 3)
Interpolator
MJ832
Linear encoder
SL7101)
Encoder cable 1
PL101-RM/RHM
 
 Encoder cable Interpolator 
When using an 
optional encoder 
cable 
1) Options manufactured by Magnescale (Note) 
CE33-_ 
Accessories for linear 
encoder 
MJ832 
When fabricating 
the encoder cable 
2) Connector set 
MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
3) Junction connector (Note) 
Plug: 36110-3000FD 
Shell kit: 36310-F200-008 
(3M or equivalent) 
 
Note. It should be prepared by the customer. 
 
1. LINEAR ENCODER 
1 - 52 
 
(2) Production of encoder cable between the servo amplifier and the interpolator 
Produce the encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder 
cable can be produced as the length of maximum 30 m. 
 
(a) Encoder cable 1 
View seen from wiring side. (Note 3)
1 3 7 9
4
MRR
2
LG
P5
P5
86 10
5
or
4
MRR
2
LG 8
6
1 5
10
3 7
9
View seen from wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M) (Note 2)
(Note 2)
 
P5
LG
1
2
MR
MRR
3
4
Servo amplifier side Interpolator side
SD Plate
1
2
3
4
Plate
0V
SD/RQ
-SD/-RQ
FG
5V
(Note 1)
(Note 2)
 
View seen from wiring side.
Plug: 36110-3000FD
Shell kit: 36310-F200-008
(3M or equivalent)
0 V4
SD/RQ
2
8
6
1
5 V
5
10
3
-SD/
-RQ
7
9
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length Number of LG and P5 connections Cable size 
to 5 m 1-pair 
to 10 m 2-pair 
AWG 22 
to 20 m 3-pair 
to 30 m 4-pair 
 
 2. For the CN2L connector, signals of pin 3 and pin 4 will be as follows. 
Pin 3: MR2 Pin 4: MRR2 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with 
any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, securely connect the external 
conductor of the shielded cable to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 53 
 
(b) Encoder cable 2 
View seen from wiring side. (Note 3)
or
View seen from wiring side. (Note 3)
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
1 3 7 9
4
MRR
2
LG
86 10
5
4
MRR
2
LG 8
6
1 5
10
3 7
9
MR
MR
THM2
THM1P5
THM2
THM1P5
AWG 24 to 20
Thermistor of
linear servo
motor (Note 2)
THM1
THM2
5
6
P5
LG
1
2
MR
MRR
3
4
Servo amplifier side Interpolator side
SD Plate
1
2
3
4
Plate
0V
SD/RQ
-SD/-RQ
FG
5V
(Note 1)
 
View seen from wiring side.
Plug: 36110-3000FDShell kit: 36310-F200-008
(3M or equivalent)
0 V4
SD/RQ
2
8
6
1
5 V
5
10
3
-SD/
-RQ
7
9
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length Number of LG and P5 connections Cable size 
to 5 m 1-pair 
to 10 m 2-pair 
AWG 22 
to 20 m 3-pair 
to 30 m 4-pair 
 
 2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction Manual". 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with 
any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, securely connect the external 
conductor of the shielded cable to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 54 
 
1.4.3 SR27A/SR67A 
(1) Cable structure 
Prepare a cable based on the following configuration diagram. 
 
(a) For the linear servo motor 
1) MR-J4-_A_/MR-J4-_B_/MR-J4-_GF_/MR-J4W_-_B 
or
MR-J4-_A_/
MR-J4-_B_/
MR-J4-_GF_
MR-J4W_-_B
(Note 2) Encoder cable (model: CH23)
Branch cable
MR-J4THCBL03M
CN2B
CN2A
CN2
CN2C
CN2 SCALE
THM (Note 3)
(Note 1)
Thermistor of linear servo motor
Linear encoder
SR27A/SR67A
 
Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not have CN2C. 
 2. This option is manufactured by Magnescale. It should be prepared by the customer. 
 3. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ/MR-J4-_GF_-RJ 
(Note 1) Encoder cable (model: CH23)
Branch cable
MR-J4THCBL03M
THM (Note 2)
Thermistor of linear servo motor
Linear encoder
SR27A/SR67A
MR-J4-_A_-RJ/
MR-J4-_B_-RJ/
MR-J4-_GF_-RJ
CN2
CN2L
CN2 SCALE 
Note 1. This option is manufactured by Magnescale. It should be prepared by the customer. 
 2. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 55 
 
(b) When using for fully closed loop system and scale measurement function 
1) MR-J4-(DU)_A_/MR-J4-(DU)_B_/MR-J4-_GF_/MR-J4W2-_B 
(Note) Encoder cable (model: CH23)
Branch cable
MR-J4THCBL03M
Encoder of rotary servo motor
Linear encoder
SR27A/SR67A
MR-J4-(DU)_A_/
MR-J4-(DU)_B_/
MR-J4-_GF_
CN2 SCALE
MOTOR
CN2B
CN2A
CN2
MR-J4W2-_B
or
 
Note. This option is manufactured by Magnescale. It should be prepared by the customer. 
 
2) MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ/MR-J4-_GF_-RJ 
CN2
MR-J4-(DU)_A_-RJ/
MR-J4-(DU)_B_-RJ/
MR-J4-_GF_-RJ
CN2L (Note) Encoder cable (model: CH23)
Encoder of rotary servo motor
Linear encoder
SR27A/SR67A
 
Note. This option is manufactured by Magnescale. It should be prepared by the customer. 
 
1. LINEAR ENCODER 
1 - 56 
 
1.4.4 SQ10 + PQ10 + MQ10 (incremental type) 
(1) Cable structure 
Prepare a cable based on the following configuration diagram. 
 
(a) For the linear servo motor 
1) MR-J4-_A_/MR-J4-_B_/MR-J4-_GF_/MR-J4W_-_B 
MR-J4-_A_/
MR-J4-_B_/
MR-J4-_GF_
1) 2)
MQ10
Linear encoder
SQ10
CN2B
CN2A
CN2
CN2C
MR-J4W_-_B
CN2 3) SCALE
2)4)
PQ10
(Note 1)
or
Thermistor of linear servo motor
Branch cable
Encoder cable 1
THM (Note 3)
Thermistor of linear servo motor
Encoder cable 2
 
 Branch cable Encoder cable 
When fabricating 
the encoder cable 
3) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note 
2) 
Plug: 10114-3000PE (3M) 
Shell kit: 
10314-52F0-008 (3M) 
When not using a 
branch cable 
 4) Connector set MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not 
have CN2C. 
 2. It should be prepared by the customer. 
 3. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 57 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ/MR-J4-_GF_-RJ 
Linear encoder
Thermistor of linear servo motor
Branch cable
Encoder cable 1
THM (Note 2)
Thermistor of linear servo motor
Encoder cable 2
MR-J4-_A_-RJ/
MR-J4-_B_-RJ/
MR-J4-_GF_-RJ
1) 2)
MQ10 SQ10
CN2
CN2L
CN2 3) SCALE
2)4)
PQ10
 
 Branch cable Encoder cable 
When fabricating 
the encoder cable 
3) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note 
1) 
Plug: 10114-3000PE (3M) 
Shell kit: 
10314-52F0-008 (3M) 
When not using a 
branch cable 
 4) Connector set MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
Note 1. It should be prepared by the customer. 
 2. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 58 
 
(b) When using for fully closed loop system and scale measurement function 
1) MR-J4-(DU)_A_/MR-J4-(DU)_B_/MR-J4-_GF_/MR-J4W2-_B 
MR-J4-(DU)_A_/
MR-J4-(DU)_B_/
MR-J4-_GF_
MQ10 SQ10
CN2 3) SCALE
MOTOR
CN2B
CN2A
CN2
MR-J4W2-_B
1) 2)
PQ10
Linear encoder
or
Encoder of rotary servo motor
Branch cable
Encoder cable 1
 
 Branch cable Encoder cable 
When fabricating 
the encoder cable 
3) MR-J4FCCBL03M 
(Refer to section 
2.5.) 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note) 
Plug: 10114-3000PE (3M) 
Shell kit: 
10314-52F0-008 (3M) 
 
Note. It should be prepared by the customer. 
 
2) MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ/MR-J4-_GF_-RJ 
CN2
MR-J4-(DU)_A_-RJ/
MR-J4-(DU)_B_-RJ/
MR-J4-_GF_-RJ
CN2L
1) 2)
MQ10 SQ10
PQ10
Linear encoder
Encoder of rotary servo motor
Encoder cable 1
 
 Encoder cable 
When fabricating 
the encoder cable 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note) 
Plug: 10114-3000PE (3M) 
Shell kit: 
10314-52F0-008 (3M) 
 
Note. It should be prepared by the customer. 
 
1. LINEAR ENCODER 
1 - 59 
 
(2) Production of encoder cable between the servo amplifier and the interpolator 
Produce the encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder 
cable can be produced as the length of maximum 30 m. 
 
(a) Encoder cable 1 
View seen from wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M) (Note 2)
(Note 2)
 
P5
LG
1
2
MR
MRR
3
4
Servo amplifier side MQ10 side
SD Plate
1
2
5
6
Plate
0V
SQ
SQ_X
FG
5V
(Note 1)
(Note 2)
 
 
Plug: 10114-3000PE (3M) 
Shell kit: 10314-52F0-008 (3M) 
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length Number of LG and P5 connections Cable size 
to 5 m 1-pair 
to 10 m 2-pair 
AWG 22 
to 20 m 3-pair 
to 30 m 4-pair 
 
 2. For the CN2L connector, signals of pin 3 and pin 4 will be as follows. 
Pin 3: MR2 Pin 4: MRR2 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with 
any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, securely connect the external 
conductor of the shielded cable to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 60 
 
(b) Encoder cable 2 
View seen from wiring side. (Note 3)
or
View seen from wiring side. (Note 3)
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
MR
MR
THM2
THM1
THM2
THM1
AWG 24 to 20
Thermistor of
linear servo
motor (Note 2)
THM1
THM2
5
6
P5
LG
1
2
MR
MRR
3
4
Servo amplifier side MQ10 side
SD Plate
1
2
3
4
Plate
0V
SD/RQ
-SD/-RQ
FG
5V
(Note 1)
 
 
Plug: 10114-3000PE (3M) 
Shell kit: 10314-52F0-008 (3M)Note 1. We recommend the following specifications encoder cables. 
 
Wiring length Number of LG and P5 connections Cable size 
to 5 m 1-pair 
to 10 m 2-pair 
AWG 22 
to 20 m 3-pair 
to 30 m 4-pair 
 
 2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction Manual". 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with 
any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, securely connect the external 
conductor of the shielded cable to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 61 
 
1.5 Linear encoder manufactured by Renishaw 
 
POINT 
When the absolute position detection system is configured, the absolute position 
battery is not required. 
 
1.5.1 RESOLUTE RL40M (absolute position type) 
(1) Cable composition 
Prepare a cable based on the following configuration diagram. 
 
(a) For the linear servo motor 
1) MR-J4-_A_/MR-J4-_B_/MR-J4-_GF_/MR-J4W_-_B 
Encoder cable 2
Thermistor of linear servo motor
Branch cable
MR-J4W_-_B
MR-J4-_A_/
MR-J4-_B_/
MR-J4-_GF_
(Note 1)
THM
or
(Note 4)
Linear encoder
RESOLUTE RL40M
2)
Output cable
1)
CN2B
CN2A
CN2
CN2C
CN2 3) SCALE
2)4)
Thermistor of linear servo motor
Encoder cable 1
 
 Branch cable Encoder cable (Note 2) Output cable 
When using a 
branch cable 
3) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note 3) 
D-SUB15 pin (female) 
Accessories for linear 
encoder 
Cable length: 0.5 m 
When not using a 
branch cable 
 4) Connector set MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not have CN2C. 
 2. Produce an encoder cable. An optional cable is not provided. 
 3. It should be prepared by the customer. 
 4. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 62 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ/MR-J4-_GF_-RJ 
MR-J4-_A_-RJ/
MR-J4-_B_-RJ/
MR-J4-_GF_-RJ
Linear encoder
RESOLUTE RL40M
2)
Output cable
1)
Thermistor of linear servo motor
Branch cable
CN2
CN2L
CN2 3) SCALE
THM (Note 3)
2)4)
Thermistor of linear servo motor
Encoder cable 2
Encoder cable 1
 
 Branch cable Encoder cable (Note 1) Output cable 
When using a 
branch cable 
3) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note 2) 
D-SUB15 pin (female) 
Accessories for linear 
encoder 
Cable length: 0.5 m 
When not using a 
branch cable 
 4) Connector set MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
Note 1. Produce an encoder cable. An optional cable is not provided. 
 2. It should be prepared by the customer. 
 3. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 63 
 
(b) For the fully closed loop system and scale measurement function 
1) MR-J4-(DU)_A_/MR-J4-(DU)_B_/MR-J4-_GF_/MR-J4W2-_B 
Encoder cable 1
2) Output cable1)
Thermistor of linear servo motor
Branch cable
CN2 3) SCALE
MOTOR
CN2B
CN2A
CN2
MR-J4W2-_B
MR-J4-(DU)_A_/
MR-J4-(DU)_B_/
MR-J4-_GF_
or
Linear encoder
RESOLUTE RL40M
 
Branch cable Encoder cable (Note 1) Output cable 
3) MR-J4FCCBL03M 
(Refer to section 
2.5.) 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note 2) 
D-SUB15 pin (female) 
Accessories for linear 
encoder 
Cable length: 0.5 m 
 
Note 1. Produce an encoder cable. An optional cable is not provided. 
 2. It should be prepared by the customer. 
 
2) MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ/MR-J4-_GF_-RJ 
Encoder of rotary servo motor
CN2
MR-J4-(DU)_A_-RJ/
MR-J4-(DU)_B_-RJ/
MR-J4-_GF_-RJ
CN2L
Linear encoder
RESOLUTE RL40M
2) Output cable1)
Encoder cable 1
 
Encoder cable (Note 1) Output cable 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note 2) 
D-SUB15 pin (female) 
Accessories for linear 
encoder 
Cable length: 0.5 m 
 
Note 1. Produce an encoder cable. An optional cable is not provided. 
 2. It should be prepared by the customer. 
 
1. LINEAR ENCODER 
1 - 64 
 
(2) Production of encoder cable 
Produce the encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder 
cable can be produced as the length of maximum 30 m. 
 
(a) Encoder cable 1 
View seen from wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M) (Note 2)
(Note 2)
 
(Note 2)
Connector: D-SUB (female) 15-pin
P5
LG
1
2
Servo amplifier side Linear encoder side
SD Plate SD
8
2 LG
P5
MR
MRR
3
4
10
1 MRR
MR
Case
(Note 1)
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 connections 
(when the output cable is 0.5 m or less) 
Cable size 
to 10 m 1-pair 
AWG 22 to 20 m 2-pair 
to 30 m 3-pair 
 
 2. For the CN2L connector, signals of pin 3 and pin 4 will be as follows. 
Pin 3: MR2 Pin 4: MRR2 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer 
adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 
Referring to POINT of chapter 1, securely connect the external conductor of the shielded cable to 
the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 65 
 
(b) Encoder cable 2 
View seen from wiring side. (Note 3)
or
View seen from wiring side. (Note 3)
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
MR
MR
THM2
THM1
THM2
THM1
 
Servo amplifier side Linear encoder side
AWG 24 to 20
Thermistor of
linear servo
motor (Note 2)
THM1
THM2
5
6
Connector: D-SUB (female) 15-pin
P5
LG
1
2
SD Plate SD
8
2 LG
P5
MR
MRR
3
4
10
1 MRR
MR
Case
(Note 1)
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 connections 
(when the output cable is 0.5 m or less) 
Cable size 
to 10 m 1-pair 
AWG 22 to 20 m 2-pair 
to 30 m 3-pair 
 
 2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction 
Manual". 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer 
adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 
Referring to POINT of chapter 1, securely connect the external conductor of the shielded cable 
to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 66 
 
1.5.2 EVOLUTE EL40M (absolute type) 
 
POINT 
When the absolute position detection system is configured, the absolute position 
battery is not required. 
 
(1) Cable structure 
Prepare a cable based on the following configuration diagram. 
 
(a) For the linear servo motor 
1) MR-J4-_A_/MR-J4-_B_/MR-J4-_GF_/MR-J4W_-_B 
Encoder cable 2
Thermistor of linear servo motor
Branch cable
THM
or
(Note 4)
Linear encoder
EVOLUTE EL40M
Output cable
Thermistor of linear servo motor
Encoder cable 1
MR-J4-_A_/
MR-J4-_B_/
MR-J4-_GF_
2)1)
CN2B
CN2A
CN2
CN2C
MR-J4W_-_B
CN2 3) SCALE
2)4)
(Note 1)
 
 Branch cable Encoder cable (Note 2) Output cable 
When using a 
branch cable 
3) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note 3) 
D-SUB9 pin (female) 
Accessories for linearencoder 
Cable length: 0.5 m 
When not using a 
branch cable 
 4) Connector set MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not have CN2C. 
 2. Produce an encoder cable. An optional cable is not provided. 
 3. It should be prepared by the customer. 
 4. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 67 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ/MR-J4-_GF_-RJ 
Encoder cable 2
Thermistor of linear servo motor
Branch cable
THM (Note 3)
Linear encoder
EVOLUTE EL40M
Output cable
Thermistor of linear servo motor
Encoder cable 1
MR-J4-_A_-RJ/
MR-J4-_B_-RJ/
MR-J4-_GF_-RJ
2)1)
CN2
CN2L
CN2 3) SCALE
2)4)
 
 Branch cable Encoder cable (Note 1) Output cable 
When using a 
branch cable 
3) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note 2) 
D-SUB9 pin (female) 
Accessories for linear 
encoder 
Cable length: 0.5 m 
When not using a 
branch cable 
 4) Connector set MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
Note 1. Produce an encoder cable. An optional cable is not provided. 
 2. It should be prepared by the customer. 
 3. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 68 
 
(b) When using for fully closed loop system and scale measurement function 
1) MR-J4-(DU)_A_/MR-J4-(DU)_B_/MR-J4-_GF_/MR-J4W2-_B 
Branch cable
Encoder of rotary servo motor
or
Linear encoder
EVOLUTE EL40M
Output cable
Encoder cable 1
2)1)
MR-J4-(DU)_A_/
MR-J4-(DU)_B_/
MR-J4-_GF_
CN2 3) SCALE
MOTOR
CN2B
CN2A
CN2
MR-J4W2-_B
 
Branch cable Encoder cable (Note 1) Output cable 
3) MR-J4FCCBL03M 
(Refer to section 
2.5.) 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note 2) 
D-SUB9 pin (female) 
Accessories for linear 
encoder 
Cable length: 0.5 m 
 
Note 1. Produce an encoder cable. An optional cable is not provided. 
 2. It should be prepared by the customer. 
 
2) MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ/MR-J4-_GF_-RJ 
CN2
MR-J4-(DU)_A_-RJ/
MR-J4-(DU)_B_-RJ/
MR-J4-_GF_-RJ
CN2L
2)1)
Encoder cable 1
Encoder of rotary servo motor
Linear encoder
EVOLUTE EL40M
Output cable
 
Encoder cable (Note 1) Output cable 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note 2) 
D-SUB9 pin (female) 
Accessories for linear 
encoder 
Cable length: 0.5 m 
 
Note 1. Produce an encoder cable. An optional cable is not provided. 
 2. It should be prepared by the customer. 
 
1. LINEAR ENCODER 
1 - 69 
 
(2) Production of encoder cable 
Produce the encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder 
cable can be produced as the length of maximum 30 m. 
 
(a) Encoder cable 1 
View seen from wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M) (Note 2)
(Note 2)
 
(Note 2)
Connector: D-SUB (female) 9-pin
P5
LG
1
2
Servo amplifier side Linear encoder side
SD Plate SD
4
8 LG
P5
MR
MRR
3
4
2
3 MRR
MR
Case
(Note 1)
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 connections 
(when the output cable is 0.5 m or less) 
Cable size 
to 10 m 1-pair 
AWG 22 to 20 m 2-pair 
to 30 m 3-pair 
 
 2. For the CN2L connector, signals of pin 3 and pin 4 will be as follows. 
Pin 3: MR2 Pin 4: MRR2 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer 
adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 
Referring to POINT of chapter 1, securely connect the external conductor of the shielded cable to 
the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 70 
 
(b) Encoder cable 2 
View seen from wiring side. (Note 3)
or
View seen from wiring side. (Note 3)
Connector set: 54599-1019
(Molex)
Connector set (option)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
1 3 7 9
4
MRR
2
LG
86 10
5
4
MRR
2
LG 8
6
1 5
10
3 7
9
MR
MR
THM2
THM1P5
THM2
THM1P5
 
Servo amplifier side Linear encoder side
AWG 24 to 20
Thermistor of
linear servo
motor (Note 2)
THM1
THM2
5
6
Connector: D-SUB (female) 9-pin
P5
LG
1
2
SD Plate SD
4
8 LG
P5
MR
MRR
3
4
2
3 MRR
MR
Case
(Note 1)
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 connections 
(when the output cable is 0.5 m or less) 
Cable size 
to 10 m 1-pair 
AWG 22 to 20 m 2-pair 
to 30 m 3-pair 
 
 2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction 
Manual". 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer 
adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 
Referring to POINT of chapter 1, securely connect the external conductor of the shielded cable 
to the ground plate and fix it to the connector shell. 
 
1. LINEAR ENCODER 
1 - 71 
 
1.6 Linear encoder PSLH041 manufactured by NIDEC SANKYO (Incremental type) 
(1) Cable structure 
Prepare a cable based on the following configuration diagram. 
 
(a) For the linear servo motor 
1) MR-J4-_A_/MR-J4-_B_/MR-J4-_GF_/MR-J4W_-_B 
CN2
MR-J4-_A_/
MR-J4-_B_/
MR-J4-_GF_
or
Linear encoder
PSLH041
2)
Output cable
1)
Thermistor of linear servo motor
Branch cable
CN2B
CN2A
CN2C
MR-J4W_-_B
CN2 3) SCALE
THM (Note 4)
2)4)
Thermistor of linear servo motor
Encoder cable 2
Encoder cable 1
(Note 1)
 
 branch cable Encoder cable (Note 2) Output cable 
When using a 
branch cable 
3) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note 3) 
D-SUB15 pin (female) 
Accessories for linear 
encoder 
Cable length: 0.4 m 
When not using a 
branch cable 
 4) Connector set MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not have CN2C. 
 2. Produce an encoder cable. An optional cable is not provided. 
 3. It should be prepared by the customer. 
 4. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
1. LINEAR ENCODER 
1 - 72 
 
2) MR-J4-_A_-RJ/MR-J4-_B_-RJ/MR-J4-_GF_-RJ 
CN2
MR-J4-_A_-RJ/
MR-J4-_B_-RJ/
MR-J4-_GF_-RJ
Linear encoder
PSLH041
2)
Output cable
1)
Thermistor of linear servo motor
Branch cable
CN2L
CN2 3) SCALE
THM (Note 3)
2)4)
Thermistor of linear servo motor
Encoder cable 2
Encoder cable 1
 
 branch cable Encoder cable (Note 1) Output cable 
When using a 
branch cable 
3) MR-J4THCBL03M 
(Refer to section 
2.4.) 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note 2) 
D-SUB15 pin (female) 
Accessories for linear 
encoder 
Cable length: 0.4 m 
When not using a 
branch cable 
 4) Connector set MR-J3CN2 
(Refer to (2) (b) of this 
section.) 
 
Note 1. Produce an encoder cable. An optional cable is not provided. 
 2. It should be prepared by the customer. 
 3. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 
(b) When using for fully closed loop system and scale measurement function 
1) MR-J4-(DU)_A_/MR-J4-(DU)_B_/MR-J4-_GF_/MR-J4W2-_B 
Linear encoder
PSLH041
2) Output cable1)
Encoder of rotary servo motor
Branch cable
CN2 3) SCALE
MOTOR
CN2B
CN2A
CN2
MR-J4W2_-_B
or
MR-J4-(DU)_A_/
MR-J4-(DU)_B_/
MR-J4-_GF_Encoder cable 1
 
branch cable Encoder cable (Note 1) Output cable 
3) MR-J4FCCBL03M 
(Refer to section 
2.5.) 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note 2) 
D-SUB15 pin (female) 
Accessories for 
linear encoder 
Cable length: 0.4 m 
 
Note 1. Produce an encoder cable. An optional cable is not provided. 
 2. It should be prepared by the customer. 
 
1. LINEAR ENCODER 
1 - 73 
 
2) MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ/MR-J4-_GF_-RJ 
Encoder of rotary servo motor
CN2
MR-J4-(DU)_A_-RJ/
MR-J4-(DU)_B_-RJ/
MR-J4-_GF_-RJ
CN2L
Linear encoder
PSLH041
2) Output cable1)
Encoder cable 1
 
Encoder cable (Note 1) Output cable 
1) Connector set MR-J3CN2 
(Refer to (2) (a) of this 
section.) 
2) Junction connector (Note 2) 
D-SUB15 pin (female) 
Accessories for 
linear encoder 
Cable length: 0.4 m 
 
Note 1. Produce an encoder cable. An optional cable is not provided. 
 2. It should be prepared by the customer. 
 
1. LINEAR ENCODER 
1 - 74 
 
(2) Fabrication of the encoder cable 
Produce the load-side encoder cable using MR-J3CN2 or a junction connector as shown below. The 
encoder cable can be produced as the length of maximum 30 m. 
 
(a) Encoder cable 1 
View seen from the wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from the wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
Connector set (optional)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M) (Note 2)
(Note 2)
 
Connector: D-SUB 15 pin (female)
P5
LG
1
2
Servo amplifier side Linear encoder side
SD Plate
3
1 GND
VCC
MR
MRR
3
4
7
8 /RQ / /DT
SD
RQ / DT
Plate
(Note 2)
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 
connections 
(when the output cable is 0.5 m 
or less) 
Wire size 
to 5 m 1-pair 
to 10 m 2-pairs 
AWG 22 
to 20 m 4-pairs 
to 30 m 5-pairs 
 
 2. For the CN2L connector, signals of pin 3 and pin 4 will be as follows. 
Pin 3: MR2 
Pin 4: MRR2 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is 
connected with any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, 
securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector 
shell. 
 
1. LINEAR ENCODER 
1 - 75 
 
(b) Encoder cable 2 
View seen from the wiring side. (Note 3)
1
P5
3 7 9
4
MRR
2
LG
86 10
5
or
4
MRR
2
LG 8
6
1
P5
5
10
3 7
9
View seen from the wiring side. (Note 3)
MR
MR
Connector set: 54599-1019
(Molex)
Connector set (optional)
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
THM2
THM1
THM2
THM1
 
Connector: D-SUB 15 pin (female)
P5
LG
1
2
Servo amplifier side Linear encoder side
THM1
THM2 6
3
1 GND
VCC
SDSD
MR
MRR
3
4
5
7
8 /RQ / /DT
RQ / DT
Plate Plate
AWG 24 to 20
Thermistor of linear
servo motor (Note 2)
 
Note 1. We recommend the following specifications encoder cables. 
 
Wiring length 
Number of LG and P5 
connections 
(when the output cable is 0.5 m 
or less) 
Wire size 
to 5 m 1-pair 
to 10 m 2-pairs 
AWG 22 
to 20 m 4-pairs 
to 30 m 5-pairs 
 
 2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction Manual". 
 3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is 
connected with any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, 
securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector 
shell. 
 
1. LINEAR ENCODER 
1 - 76 
 
1.7 A/B/Z-phase differential output linear encoder 
 
POINT 
When using a linear encoder of A/B/Z-phase differential output method, use an 
MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ. 
 
This section explains the connection of the A/B/Z-phase differential output linear encoder. Prepare the MR-
J3CN2 connector set for the encoder cable and fabricate it according to the wiring diagram in (3) of this 
section. 
 
(1) A/B/Z-phase differential output linear encoder specifications 
Each signal of the A, B, and Z-phase of the linear encoder is provided in the differential line driver 
output. It cannot be provided in the collector output. 
The phase differences of the A-phase and B-phase pulses and the pulse width of the Z-phase pulse 
need to be 200 ns or more. 
The output pulse of A-phase and B-phase of the A/B/Z-phase differential output linear encoder is in the 
multiply-by-four count method. 
The linear encoder without Z-phase cannot make a home position return. 
The tolerable resolution range is between 0.001 µm and 5 µm. Please select a linear encoder within the 
range. 
LA
LAR
LB
LBR
LZ
LZR
Linear encoder
Am26LS31 or
equivalent
LAR, LBR, LZR
LA, LB, LZ
Phase difference: 200 ns or more
1 pulse of Z-phase = 200 ns or more
 
(2) Connection of servo amplifier and A/B/Z-phase differential output linear encoder 
Connector set
MR-J3CN2 (option)
A/B/Z-phase differential output linear encoder
Servo amplifier
CN2L
CN2
Thermistor of linear servo motor
 
 
1. LINEAR ENCODER 
1 - 77 
 
(3) Internal wiring diagram 
For fabrication, use a cable durable against the long period of bending action. Even though the cable 
length is max. 30 m for the RS-422 communication, the length may be shortened due to the power 
supply voltage drop or the specifications of linear encoder. 
A connection example is shown below. Contact each linear encoder manufacturer for details. 
 
1) When the consumption current of the linear encoder is 350 mA or less 
B-phase
P5
LG
1
2
PZ
PZR
7
8
Servo amplifier-
side connector
A/B/Z-phase differential output
linear encoder
10
SD Plate
5V
3
4
5
6
9
PA
PAR
PB
PBR
0V
A-phase
A-phase
B-phase
Z-phase
Z-phase
(Note 1)
(Note 4)
30 m or less
(Note 2) Shield
PSEL
(Note 3)
 
Note 1. For the encoder without Z-phase, set [Pr. PC45] (MR-J4-_A_-RJ) or [Pr. PC27] 
(MR-J4-_B_-RJ/MR-J4-_GF_-RJ) to "_1_ _". 
 2. Securely connect a shielded wire to the plate (ground plate) in the connector. 
 3. We recommend the following specifications encoder cables for the linear encoder 
which consumption current is 350 mA. When the consumption current of the 
encoder is less than 350 mA, the paired connections can be decreased. 
 4. When using an A/B/Z-phase differential output linear encoder, connect PSEL to 
the LG terminal. 
 
Wiring length 
Number of LG and P5 
connections 
Cable size 
to 5 m 2-pair 
to 10 m 3-pair 
AWG 22 
to 20 m 6-pair 
to 30 m 8-pair 
 
1. LINEAR ENCODER 
1 - 78 
 
2) When the consumption current of the linear encoder is more than 350 mA 
 
POINT 
When turning on the power, turn on the linear encoder and then turn on the 
servo amplifier. When turning off the power, turn off the servo amplifier and then 
turn off the linear encoder. 
 
B-phase
A-phase
A-phase
B-phase
Z-phase
Z-phase
(Note 1)
(Note 3)
P5
LG
1
2
PZ
PZR
7
8
Servo amplifier-
side connector
A/B/Z-phase differential output
linear encoder
10
SD Plate
5V
3
4
5
6
9
PA
PAR
PB
PBR
0V
30 m or less
(Note 2) Shield
PSEL
External 5 V DC power supply
 
Note 1. For the encoder without Z-phase, set [Pr. PC45] (MR-J4-_A_-RJ) or [Pr. PC27] 
(MR-J4-_B_-RJ/MR-J4-_GF_-RJ) to "_1_ _". 
 2. Securely connect a shielded wire to the plate (ground plate) in the connector. 
 3. When using an A/B/Z-phase differential output linear encoder, connect PSEL to 
the LG terminal. 
 
 
2. OPTION CABLE/CONNECTOR SETS 
2 - 1 
 
2. OPTION CABLE/CONNECTOR SETS 
2.1 MR-EKCBL_M-H encoder cable 
(1) Model explanations 
2
5
2
5
Symbol Cable length [m]
Long bending life
Model:
 
(2) Cable structure 
The table shows this optional cable structure. 
 
IP rating Bendinglife 
Length 
[m] 
Core 
size 
[mm2] 
Number 
of cores 
Characteristics of one core 
(Note 2) 
Cable OD 
[mm] 
Wire model 
(manufacturer) 
Structure 
[Wires/mm] 
Conductor 
resistance 
[Ω/km] 
(Note 1) 
Insulation 
coating 
OD d [mm] 
IP20 Long bending life 2/5 0.2 
12 
(6 pairs) 
40/0.08 105 or less 0.88 7.2 
(Note 3) 
A14B2339 6P 
(Junkosha) 
 
Note 1. d is as shown below. 
 
 2. Standard OD. Maximum OD is about 10% greater. 
 3. Purchase from Toa Electric Industrial 
 
1)
2)
 
Cable model 1) SCALE-side connector of branch cable 2) Junction connector 
MR-EKCBL_M-H Receptacle: 36210-0100PL 
Shell kit: 36310-3200-008 
(3M) 
Connector set: 54599-1019 
(Molex) 
Housing: 1-172161-9 
Connector pin: 170359-1 
(TE Connectivity or equivalent) 
Cable clamp: MTI-0002 
(Toa Electric Industrial) 
RQ
1 2 3
/RQ
4 5 6
P5
7 8 9
LG FG
View seen from wiring side.
 
 
MRR
LG
P5 P5MR
View seen from wiring side. (Note) View seen from wiring side. (Note)
1 3 7 9
42 86 10
5
or
4
2
8
6
1 5
10
3 7
9
MRRLG
MR
 
 Note. Keep open the pins shown with . Especially, pin 10 is provided for 
manufacturer adjustment. If it is connected with any other pin, the servo 
amplifier cannot operate normally. Referring to POINT of chapter 1, 
securely connect the external conductor of the shielded cable to the 
ground plate and fix it to the connector shell. 
 
2. OPTION CABLE/CONNECTOR SETS 
2 - 2 
 
(3) Internal wiring diagram 
P5
LG
1
2
MR
MRR
3
4
3
7
Servo amplifier side Linear encoder side
9
SD Plate
1
2
8
9
LG
RQ
/RQ
FG
P5
 
 
2.2 MR-ECNM connector set 
The following shows the connector combination for this connector set. 
 
IP rating Parts Description 
IP20 Connector set MR-ECNM 
 
SCALE-side connector of branch cable 
Receptacle: 36210-0100PL 
Shell kit: 36310-3200-008 
(3M) 
or 
Connector set: 54599-1019 
(Molex) 
 
 
Junction connector 
Housing: 1-172161-9 
Connector pin: 170359-1 
(TE Connectivity or equivalent) 
Cable clamp: MTI-0002 
(Toa Electric Industrial) 
 
2.3 MR-J3CN2 connector set 
The following shows the details of this connector set. 
Connector set
MR-J3CN2
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M or equivalent)
View seen from wiring side. View seen from wiring side.
1 3 7 9
42 86 10
5
or
4
2
8
6
1 5
10
3 7
9
Connector set: 54599-1019
(Molex)
 
 
2. OPTION CABLE/CONNECTOR SETS 
2 - 3 
 
2.4 MR-J4THCBL03M branch cable 
This branch cable is for connecting the thermistor of linear servo motor and the linear encoder to CN2 
connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to App. 1. 
LG
View seen from wiring side. (Note 5)
4
MRR
2
LG 8
6
1
P5
5
10
3
MR
7
9
THM2
THM1
MXR
SEL SEL
MX
BAT
SD
3
4
1
CN2 SCALE
Plate
(Note 1) (Note 2)
0.3 m
MR
P5
MRR
SD
MR
P5
MRR
3
4
1
Plate
View seen from wiring side. (Note 5)
4
MRR
2
8
6
1
P5
5
10
3
MR
7
9
View seen from wiring side. (Note 5)
4
2
8
6
15
10
37
9
BAT
MXR
MX
2
THM2 6
7MX
LG LG2
MXR 8
BAT
SEL
9
10
5THM1
7 MX
8 MXR
9 BAT
10 SEL
THM
(Note 2, 3)
(Note 4)
THM1
SD
THM2
5
6
Plate
THM2
THM1
 
Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M) 
 2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M) 
 3. For connectors for thermistor signals, change how to connect depending on the customer's system. 
 4. When fabricating the cable, you do not need to wire these signals for the manufacturer. 
 5. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with 
any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, securely connect the external 
conductor of the shielded cable to the ground plate and fix it to the connector shell. 
 
2. OPTION CABLE/CONNECTOR SETS 
2 - 4 
 
2.5 MR-J4FCCBL03M branch cable 
This branch cable is for connecting the encoder of rotary servo motor and the load-side encoder to CN2 
connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to App. 2. 
LG
View seen from wiring side. (Note 5)
4
MRR
2
LG 8
6
1
P5
5
10
3
MR
7
9
THM2
THM1
MXR
SEL THM2
THM1
SEL
MX
BAT
SD
3
4
1
CN2 MOTOR
Plate
(Note 1) (Note 2)
0.3 m
MR
P5
MRR
SD
MR
P5
MRR
3
4
1
Plate
View seen from wiring side. (Note 5)
4
MRR
2
8
6
1
P5
5
10
3
MR
7
9
View seen from wiring side. (Note 5)
4
2
8
6
15
10
37
9
BAT
2
THM2 6
7MX
LG LG2
MXR 8
BAT
SEL
9
10
5THM1 5 THM1
6 THM2
9 BAT
10 SEL
SCALE
(Note 2)
P5
SD
SEL
LG
1
2
10
Plate
4 MXR
BAT9
3 MX
BAT
SEL LG
P5
MXR
MX
(Note 3)
(Note 4)
(Note 4)
 
Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M) 
 2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M) 
 3. Connect MX to MR of the linear encoder cable, and MXR to MRR of the cable. 
 4. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental 
system. 
 5. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with 
any other pin, the servo amplifier cannot operate normally. Referring to POINT of chapter 1, securely connect the external 
conductor of the shielded cable to the ground plate and fix it to the connector shell. 
 
 
3. DETAILED EXPLANATION OF [AL. 2A LINEAR ENCODER ERROR 1] 
3 - 1 
 
3. DETAILED EXPLANATION OF [AL. 2A LINEAR ENCODER ERROR 1] 
If the cause of [AL. 2A Linear encoder error 1] occurrence is not identified, confirm the alarm display details 
of MR Configurator2, and contact each manufacturer. 
 
Table 3.1 Detailed explanation of [AL. 2A Linear encoder error 1] for each manufacturer 
Alarm 
No. 
Detail 
inform
ation 
No. 
[AL. 2A Linear encoder error 1] details 
Mitutoyo Magnescale 
Heidenhain 
Renishaw 
NIDEC 
SANKYO 
AT343A/AT54_A ST74_A/ST134_A SR_7 SR_5/SL710/SQ10 
RESOLUTE/ 
EVOLUTE 
PSLH041 
2A.1 01 Initialization error Overspeed error Laser diode error Initialization error Initial error EEPROM error 
2A.2 02 
Photoelectric 
capacitive data 
mismatch 
Initialization error 
Encoder 
mismatch error 
Encoder warning 
Scale level error 
INC/ABS data 
mismatch error 
 
Temperature 
error 
2A.3 03 
Photoelectric 
error 
Hardware error 
Incremental 
signal error 
 INC data error Speed error 
2A.4 04 Capacitive error 
ABS detection 
error 
Absolute signal 
error 
 ABS data error 
Absolute signal 
error 
Offset error 
2A.5 05 CPU error Transducer error CPU error Amplitude error 
2A.6 06 EEPROM error 
Signal strength 
error 
System memory 
error 
Encoder alarm EEPROM error Thermal alarm 
2A.7 07 ROM/RAM error 
Signal strength 
alarm 
 
2A.8 08 
Optical 
overspeed 
Thermal alarm Speed error Overspeed error Overspeed 
 
As an example, the following describes the detailed information when [AL. 2A Linear encoder error 1] occurs 
in the linear encoder AT343A manufactured by Mitutoyo. 
 
 
3. DETAILED EXPLANATION OF [AL. 2A LINEAR ENCODER ERROR 1] 
3 - 2 
 
MEMO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 APPENDIX 
App. - 1 
 
APPENDIX 
App. 1 Production of branch cable for linear servo motor 
Produce the branch cable using MR-J3THMCN2 connector set as shown in the connection diagram in 
section 2.4. 
The branch cable length should be 0.3 m or less. 
 
Parts Description 
MR-J3THMCN2 
connector set 
Receptacle: 36210-0100PL 
Shell kit: 36310-3200-008 (3M) 
or 
connector set: 54599-1019 (Molex) 
 
Plug: 36110-3000FD 
Shell kit: 36310-F200-008 (3M) 
Cable ETFE-SVP 40/0.08mm (AWG#24 or equivalent)×6P (Toa Electric Industrial Co. Ltd., Nagoya Branch) 
VSVC 7/0.18mm × 2C (AWG#26 or equivalent) (Toa Electric Industrial Co. Ltd., Nagoya Branch) 
 
App. 2 Production of branch cable for fully closed loop control system 
Produce the branch cable using MR-J3THMCN2 connector set as shown inthe connection diagram in 
section 2.5. 
The branch cable length should be 0.3 m or less. 
 
Parts Description 
MR-J3THMCN2 
connector set 
Receptacle: 36210-0100PL 
Shell kit: 36310-3200-008 (3M) 
or 
connector set: 54599-1019 (Molex) 
 
Plug: 36110-3000FD 
Shell kit: 36310-F200-008 (3M) 
Cable ETFE-SVP 40/0.08mm (AWG#24 or equivalent)×6P (Toa Electric Industrial Co. Ltd., Nagoya Branch) 
VSVP 7/0.16(AWG#26 or equivalent)-4P (Toa Electric Industrial Co. Ltd., Nagoya Branch) 
 
App. 3 Manufacturer list 
Names given in the table are as of December 2016. 
 
Manufacturer Contact 
3M 3M 
TE Connectivity TE Connectivity 
Toa Electric Industrial Toa Electric Industrial Co., Ltd. 
Heidenhain Heidenhain 
Hirose Electric Hirose Electric Co., Ltd. 
Magnescale Magnescale Co., Ltd. 
Mitutoyo Mitutoyo Corporation 
Molex Molex 
Renishaw Renishaw 
NIDEC SANKYO NIDEC SANKYO CORPORATION 
 
 
 
REVISIONS 
*The manual number is given on the bottom left of the back cover. 
Revision Date *Manual Number Revision 
Mar. 2012 SH(NA)030111ENG-A First edition 
May 2012 SH(NA)030111ENG-B Chapter 1 
Section 1.2.1 (1) 
Section 1.2.1 (2) (b) 
Section 1.2.2 (1) 
Section 1.2.2 (2) (b) 
Section 1.2.3 (1) 
Section 1.2.3 (2) (b) 
Section 1.3.1 (1) 
Section 1.3.1 (2) (b) 
Section 1.3.2 (1) 
Section 1.3.2 (2) (b) 
Section 1.4.1 (1) (a) 
Section 1.4.2 (1) 
Section 1.4.2 (2) (b) 
Section 1.5.1 (1) 
Section 1.5.1 (2) (b) 
Section 1.5.2 (1) 
Section 1.5.2 (2) (b) 
Section 2.4 
POINT is changed. 
Drawing and table are changed. 
Added. 
Drawing and table are changed. 
Added. 
Drawing and table are changed. 
Added. 
Drawing and table are changed. 
Added. 
Drawing and table are changed. 
Added. 
CAUTION is added. 
Drawing and table are changed. 
Added. 
Drawing and table are changed. 
Added. 
Drawing and table are changed. 
Added. 
CAUTION is added. 
Feb. 2013 SH(NA)030111ENG-C Chapter 1 
Section 1.1 
Section 1.2.1 (1) 
Section 1.2.1 (2) 
Section 1.2.2 (1) 
Section 1.2.2 (2) 
Section 1.2.3 (1) 
Section 1.2.3 (2) 
Section 1.3.1 (1) 
Section 1.3.1 (2) 
Section 1.3.2 (1) 
Section 1.3.2 (2) 
Section 1.4.1 (1) 
Section 1.4.2 (1) 
Section 1.4.2 (2) 
Section 1.5.1 (1) 
Section 1.5.1 (2) 
Section 1.5.2 (1) 
Section 1.5.2 (2) 
Section 1.6 
POINT is changed. 
Table is changed, (1) and (2) are added. 
MR-J4-A is added to 1) of (a) and (b). 2) is added. 
The titles of (a) and (b) are changed. Note is added to (a). 
MR-J4-A is added to 1) of (a) and (b). 2) is added. 
The titles of (a) and (b) are changed. Note is added to (a). 
MR-J4-A is added to 1) of (a) and (b). 2) is added. 
The titles of (a) and (b) are changed. Note is added to (a). 
MR-J4-A is added to 1) of (a) and (b). 2) is added. 
The titles of (a) and (b) are changed. Note is added to (a). 
MR-J4-A is added to 1) of (a) and (b). 2) is added. 
The titles of (a) and (b) are changed. Note is added to (a). 
MR-J4-A is added to 1) of (a) and (b). 2) is added. 
MR-J4-A is added to 1) of (a) and (b). 2) is added. 
The titles of (a) and (b) are changed. Note is added to (a). 
MR-J4-A is added to 1) of (a) and (b). 2) is added. 
The titles of (a) and (b) are changed. Note is added to (a). 
MR-J4-A is added to 1) of (a) and (b). 2) is added. 
The titles of (a) and (b) are changed. Note is added to (a). 
Added. 
Aug. 2013 SH(NA)030111ENG-D Section 1.1 (1) (2) 
Section 1.2.1 (1) (a) 2) 
Section 1.2.2 (1) (a) 2) 
Section 1.2.3 (1) (a) 2) 
Section 1.3.1 (1) (b) 
Section 1.3.2 (1) (b) 
Section 1.4.1 (1) (a) 2) 
Section 1.4.2 (1) (a) 2) 
Section 1.5.1 (1) (a) 2) 
Section 1.5.2 (1) (a) 2) 
Section 1.6 (2) 
The table is changed. 
The illustration is changed. 
The illustration is changed. 
The illustration is changed. 
The illustration is changed. 
The illustration is changed. 
The illustration is changed. 
The illustration is changed. 
The illustration is changed. 
The illustration is changed. 
The illustration is changed. 
 
 
Revision Date *Manual Number Revision 
Mar. 2014 SH(NA)030111ENG-E Section 1.1 (1) Changed. 
Sep. 2014 SH(NA)030111ENG-F Encoder and large capacity servo amplifiers are added. 
 Chapter 1 
Section 1.2.1 (2) 
Section 1.2.2 (2) 
Section 1.2.3 (2) 
Section 1.3.1 (2) 
Section 1.3.2 (2) 
Section 1.3.3 (2) 
Section 1.4.2 (2) 
Section 1.5 (2) 
Section 1.6 
Section 2.1 (2) 
Section 2.4 
Section 2.5 
Chapter 3 
App. 3 
POINT is added. 
Note is added. 
Note is added. 
Note is added. 
Note is added. 
Note is added. 
Note is added. 
Note is added. 
Note is added. 
Added. 
Note is partially changed. 
Note is added. 
Note is added. 
The table is partially changed. 
Partially added. 
Feb. 2016 SH(NA)030111ENG-G MR-J4-GF is added, and linear encoder is added. 
 Chapter 1 
Section 1.1 
 
Section 1.2.1 
Section 1.2.2 
Section 1.2.3 
Section 1.2.4 
Section 1.3.1 
Section 1.3.2 
 
Section 1.3.3 
 
Section 1.4 
Section 1.4.1 
Section 1.4.2 
Section 1.4.3 
Section 1.4.4 
Section 1.5.1 
Section 1.5.2 
Section 1.6 
Section 1.7 (3) 
Chapter 3 
App. 3 
POINT is added. 
Added. 
Partially changed. 
MR-J4-GF is added. 
MR-J4-GF is added. 
MR-J4-GF is added. 
Added. 
Model names are changed. 
Model names are added. 
Partially changed. 
MR-J4-GF is added. 
Partially changed. 
Model names are added. 
MR-J4-GF is added. 
MR-J4-GF is added. 
Added. 
Added. 
MR-J4-GF is added. 
Added. 
MR-J4-GF is added. 
Note is added. 
Model names are added. 
Partially changed. 
Dec. 2016 SH(NA)030111ENG-H "Available in the future" for MR-J4-GF is deleted. 
 Front cover "Available in the future" is deleted. 
 Section 1.1 Partially changed. 
 Section 1.2.4 Partially added. 
 
 
 
 
 
 
 
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. 
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may 
occur as a result of using the contents noted in this manual. 
 2012 MITSUBISHI ELECTRIC CORPORATION 
 
MEMO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. 
All other product names and company names are trademarks or registered trademarks of their respective companies. 
 
 
Country/Region Sales office Tel/Fax 
USA Mitsubishi Electric Automation, Inc. 
500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. 
 
Tel 
Fax 
: +1-847-478-2100 
: +1-847-478-2253 
Mexico Mitsubishi Electric Automation, Inc. Mexico Branch 
Mariano Escobedo #69, Col. Zona Industrial, Tlalnepantla Edo. Mexico, C.P.54030 
 
Tel 
Fax 
: +52-55-3067-7500 
: – 
Brazil Mitsubishi Electric do Brasil Comercio e Servicos Ltda. 
Avenida Adelino Cardana, 293, 21 andar, Bethaville, CEP 06401-147, Barueri SP, Brazil 
 
Tel 
Fax 
: +55-11-4689-3000 
: +55-11-4689-3016 
Germany Mitsubishi Electric Europe B.V. German Branch 
Mitsubishi-Electric-Platz 1, 40882 Ratingen, Germany 
 
Tel 
Fax 
: +49-2102-486-0 
: +49-2102-486-1120 
UK Mitsubishi Electric Europe B.V. UK Branch 
Travellers Lane, UK-Hatfield, Hertfordshire, AL10 8XB, U.K. 
 
Tel 
Fax 
: +44-1707-28-8780 
: +44-1707-27-8695 
Italy Mitsubishi Electric Europe B.V. Italian Branch 
Centro Direzionale Colleoni - Palazzo Sirio, Viale Colleoni 7, 20864 Agrate Brianza (MB), Italy 
 
Tel 
Fax 
: +39-039-60531 
: +39-039-6053-312 
Spain Mitsubishi Electric Europe B.V. Spanish Branch 
Carretera de Rubi, 76-80-Apdo. 420, 08190 Sant Cugat del Valles (Barcelona), Spain 
 
Tel 
Fax 
: +34-935-65-3131 
: +34-935-89-1579 
France Mitsubishi Electric Europe B.V. French Branch 
25, Boulevard des Bouvets, 92741 Nanterre Cedex, France 
 
Tel 
Fax 
: +33-1-55-68-55-68 
: +33-1-55-68-57-57 
Czech Republic Mitsubishi Electric Europe B.V. Czech Branch 
Avenir Business Park, Radlicka 751/113e, 15800 Praha 5, Czech Republic 
 
Tel 
Fax 
: +420-251-551-470 
: +420-251-551-471 
Poland Mitsubishi Electric Europe B.V. Polish Branch 
ul. Krakowska 50, 32-083 Balice, Poland 
 
Tel 
Fax 
: +48-12-347-65-00 
: +48-12-630-47-01 
Russia Mitsubishi Electric (Russia) LLC St. Petersburg Branch 
Piskarevsky pr. 2, bld 2, lit “Sch”, BC “Benua”, office 720; 195027 St. Petersburg, Russia 
 
Tel 
Fax 
: +7-812-633-3497 
: +7-812-633-3499 
Sweden Mitsubishi Electric Europe B.V. (Scandinavia) 
Fjelievagen 8, SE-22736 Lund, Sweden 
 
Tel 
Fax 
: +46-8-625-10-00 
: +46-46-39-70-18 
Turkey Mitsubishi Electric Turkey A.S. Umraniye Branch 
Serifali Mahallesi Nutuk Sokak No:5, TR-34775 Umraniye / Istanbul, Turkey 
 
Tel 
Fax 
: +90-216-526-3990 
: +90-216-526-3995 
UAE Mitsubishi Electric Europe B.V. Dubai Branch 
Dubai Silicon Oasis, P.O.BOX 341241, Dubai, U.A.E. 
 
Tel 
Fax 
: +971-4-3724716 
: +971-4-3724721 
South Africa Adroit Technologies 
20 Waterford Office Park, 189 Witkoppen Road, Fourways, South Africa 
 
Tel 
Fax 
: +27-11-658-8100 
: +27-11-658-8101 
China Mitsubishi Electric Automation (China) Ltd. 
Mitsubishi Electric Automation Center, No.1386 Hongqiao Road, Shanghai, China 
 
Tel 
Fax 
: +86-21-2322-3030 
: +86-21-2322-3000 
Taiwan SETSUYO ENTERPRISE CO., LTD. 
6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan 
 
Tel 
Fax 
: +886-2-2299-2499 
: +886-2-2299-2509 
Korea Mitsubishi Electric Automation Korea Co., Ltd. 
7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 07528, Korea 
 
Tel 
Fax 
: +82-2-3660-9510 
: +82-2-3664-8372/8335 
Singapore Mitsubishi Electric Asia Pte. Ltd. 
307 Alexandra Road, Mitsubishi Electric Building, Singapore 159943 
 
Tel 
Fax 
: +65-6473-2308 
: +65-6476-7439 
Thailand Mitsubishi Electric Factory Automation (Thailand) Co., Ltd. 
12th Floor, SV.City Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road, Kwaeng 
Bangpongpang, Khet Yannawa, Bangkok 10120, Thailand 
 
Tel 
Fax 
: +66-2682-6522 to 6531 
: +66-2682-6020 
Indonesia PT. Mitsubishi Electric Indonesia 
Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia 
 
Tel 
Fax 
: +62-21-3192-6461 
: +62-21-3192-3942 
Vietnam Mitsubishi Electric Vietnam Company Limited 
Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1, Ho Chi Minh City, Vietnam 
 
Tel 
Fax 
: +84-8-3910-5945 
: +84-8-3910-5947 
India Mitsubishi Electric India Pvt. Ltd. Pune Branch 
Emerald House, EL-3, J Block, M.I.D.C., Bhosari, Pune - 411026, Maharashtra, India 
 
Tel 
Fax 
: +91-20-2710-2000 
: +91-20-2710-2100 
Australia Mitsubishi Electric Australia Pty. Ltd. 
348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia 
 
Tel 
Fax 
: +61-2-9684-7777 
: +61-2-9684-7245 
Japan Mitsubishi Electric Co., Ltd. 
Tokyo Building, 2-7-3, Marunouchi, Chiyoda-ku, Tokyo 100-8310, Japan 
 
Tel : +81-3-3218-2111 
 
 
 
Warranty 
1. Warranty period and coverage 
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" 
arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you 
purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site 
repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial 
run that may be required after a defective unit are repaired or replaced. 
 
[Term] 
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or 
eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product 
cannot exceed beyond the original warranty period before any repair work. 
 
[Limitations] 
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule. 
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not 
be charged if we are responsible for the cause of the failure. 
 
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and 
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label 
affixed to the Product. 
 
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases; 
 
(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your 
hardware or software problem 
 
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval 
 
 
(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a 
safety device required by applicable laws and has any function or structure considered to be indispensable according to a 
common sense in the industry 
 
 
(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly 
maintained and replaced 
 
(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.) 
 
 
(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of 
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters 
 
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment
of the Product from our company 
 
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for 
 
 
2. Term of warranty after the stop of production 
(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The 
announcement of the stop of production for each model can be seen in our Sales and Service, etc. 
 
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production. 
 
3. Service in overseas countries 
Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the 
repair work may differ depending on each FA Center. Please ask your local FA center for details. 
 
4. Exclusion of loss in opportunity and secondary loss from warranty liability 
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to: 
 
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi. 
 
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products. 
 
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for 
damages to products other than Mitsubishi products. 
 
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks. 
 
5. Change of Product specifications 
Specifications listed in our catalogs, manuals or technical documents may be changed without notice. 
 
6. Application and use of the Product 
(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any 
failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external 
system to General-Purpose AC Servo when any failure or malfunction occurs. 
 
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries. 
Therefore, applications substantially influential on the public interest for such as atomic power plants and other powerplants of 
electric power companies, and also which require a special quality assurance system, including applications for railway companies 
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these 
applications when used 
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, 
railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety 
machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. 
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific 
application. Please contact us for consultation. 
 
 
SH(NA)030111ENG-H 
SH(NA)030111ENG-H(1612)MEE Printed in Japan Specifications are subject to change without notice.
 This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
General-Purpose AC Servo
compatible
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
LINEAR ENCODER
INSTRUCTION MANUAL
LINEAR ENCODER 
INSTRUCTIONMANUAL
1CW947
H
	Safety Instructions
	CONTENTS
	1. LINEAR ENCODER
	1.1 Compatible linear encoder list
	1.2 Linear encoder manufactured by Mitutoyo (absolute type)
	1.2.1 AT343A
	1.2.2 AT543A-SC/AT545A-SC
	1.2.3 ST741A/ST742A/ST743A/ST744A
	1.2.4 ST1341A/ST1342A
	1.3 Linear encoder manufactured by Heidenhain
	1.3.1 LC 495M/LC 195M (absolute type)
	1.3.2 LIC 4193M/LIC 4195M/LIC 4197M/LIC 4199M/LIC 2197M/LIC 2199M
	1.3.3 LIDA 483/LIDA 485/LIDA 487/LIDA 489/LIDA 287/LIDA 289/LIF 481/LIP 581 (incremental type)
	1.4 Linear encoder manufactured by Magnescale
	1.4.1 SR77/SR87/SR75/SR85
	1.4.2 SL710 + PL101-RM/RHM (incremental type)
	1.4.3 SR27A/SR67A
	1.4.4 SQ10 + PQ10 + MQ10 (incremental type)
	1.5 Linear encoder manufactured by Renishaw
	1.5.1 RESOLUTE RL40M (absolute position type)
	1.5.2 EVOLUTE EL40M (absolute type)
	1.6 Linear encoder PSLH041 manufactured by NIDEC SANKYO (Incremental type)
	1.7 A/B/Z-phase differential output linear encoder
	2. OPTION CABLE/CONNECTOR SETS
	2.1 MR-EKCBL_M-H encoder cable
	2.2 MR-ECNM connector set
	2.3 MR-J3CN2 connector set
	2.4 MR-J4THCBL03M branch cable
	2.5 MR-J4FCCBL03M branch cable
	3. DETAILED EXPLANATION OF [AL. 2A LINEAR ENCODER ERROR 1]
	APPENDIX
	App. 1 Production of branch cable for linear servo motor
	App. 2 Production of branch cable for fully closed loop control system
	App. 3 Manufacturer list
	REVISIONS
	Country/Region
	Warranty