Hi,

My first go at a Galil set up with Mach. I'm using two Mitsubishi MR-J2-40A  drives and one MR-J2S-70A.

The problem is, although I have the power side done and the encoder cables connected to the motors, I'm struggling to sort the pin outs from the drive to the Galil icm 1900. I have the diagram for the CN1A connector on the drive and the CN1B connector on the drive.

I also have the terminal list for the icm 1900 but not sure quite what goes to what! I've read that it's best to run these drives in torque mode?

Any pointers? Any help would be appreciated!

John 

Hi,

On the Mits manual it says I can run in Position control mode, speed control mode, torque control mode, position/speed control change mode, speed/torque control change mode or torque position control change mode 

If I knew which one to go with that would be a start.

On the Mits CN1A pin outs I have encoder A phase pulse LA pin 6 , B phase pulse LB pin 7, Z phase pulse LZ pin5.

Then LAR is differential line driver pin 16, LBR differential line driver pin 17 and LZR differential line driver pin 15.

On the Galil icm 1900 I have pin 83 X encoder A+, pin 84 X encoder A-, pin 85 X encoder B+,  pin 86X encoder B-, pin 87 X main encoder index +, pin 88 X main encoder index - then pin 89 analogue signal ground and pin 90 +5 volts.

So would I wire pin 6 on the mits to pin 83 on the galil and pin 16 to pin 84. Presume the Z phase on the mits is the index terminal on the Galil.

If I can sort this that will get me going!

Thanks for any help in advance 

John. 
 

Use the differential output pins on the Mits to the relative pins on the Galil and connect the commons between the mits and Galil only, If the encoder +5v is fed from the Mits, do not connect this to the Galil side.
Galil Recommend Torque mode.
Z and I(Index) are the same.
Nosmo.

Thanks Nosmo will run in torque mode. I'm a newby with the Mits and the Galil so finding the terminology confusing.

When you say the differential out puts you mean LA and LAR on the Mits to A phase+ and A phase - on the galil for example...just to clarify!

Will leave the 5v as you suggested as the encoder gets this from the drive.

Great help thanks 

John

When you say the differential out puts you mean LA and LAR on the Mits to A phase+ and A phase - on the galil for example...just to clarify!

Great help thanks  

John

Yes you have it, strictly speaking with differential, A & /A etc you should not need the common just the complementary pair, but I have always ran the common between just in order to make both systems commons have the same reference.
As the Galil (PC) 5v common is at ground potential normally.
N.

Ok thanks will give that a try this week then ill have a go at the cn1b for the torque commands drive enable etc 
John

Had a go at the wiring today but soon hit a problem. I'm using Mits encoder cables for the CN1A encoder pass through to the galil but found I have no wires coming from pin 5 and pin 15 for the Z index pulse to the icm1900 terminals. I've opened the mits plug but looks a nightmare to resolder..so tiny!

Am I doing something wrong here..any advice on cables..should I be looking at using something else instead of an encoder cable?

Thanks
John

Not sure why they omitted 5&15 connection?
I know what you mean about the micro-mini D connectors I have had to wire my own up in Mits CNC systems.
You could maybe use a small gauge shielded pair to run parallel to the existing cable if there are no spares in the cable?
N.

Yes it's very wierd. It has 5 and 15 on the wiring diagram forZ index but the cables arn't wired and they are orignal mits cables. (JC BBL2)

Wondering if the mits encoders can run without the Z index??

I think I will need a very fine soldering iron! I have spare cabling so might try running some along side.

Thanks
John

Sorry my fault had the plug the wrong way up compared to the diagram dooh!