Akribis ITF-21-BISS-MIT User manual

1 | P a g e
THIS DOCUMENT IS SUBJECT TO CHANGE WITHOUT PRIOR NOTICE. SHOULD YOU HAVE ANY QUESTION, PLEASE FEEL FREE TO CONTACT OUR SALES
REV 1.0.2
Akribis Systems Pte Ltd
Blk 5012 Techplace II #01-05 Ang Mo Kio Avenue 5
Singapore 569876
Tel: [phone] Fax: [phone]
http://www.akribis-sys.com
RCB Reg No: 200410879N GST Reg No: 20-0410879-N
User Manual of ITF-21-BISS-MIT
(BiSS C to Mitsubishi Serial Adapter)

2 | P a g e
THIS DOCUMENT IS SUBJECT TO CHANGE WITHOUT PRIOR NOTICE. SHOULD YOU HAVE ANY QUESTION, PLEASE FEEL FREE TO CONTACT OUR SALES
REV 1.0.2
Akribis Systems Pte Ltd
Blk 5012 Techplace II #01-05 Ang Mo Kio Avenue 5
Singapore 569876
Tel: [phone] Fax: [phone]
http://www.akribis-sys.com
RCB Reg No: 200410879N GST Reg No: 20-0410879-N
Contents
1. Dimension ....................................................................................................................................................................3
2. Signal and Wiring .........................................................................................................................................................3
LED Indicator Definition ...................................................................................................................................................3
Pinout...............................................................................................................................................................................4
Connector X1 - DSUB 15 Male, to be connected to MR-J4 Servo Amplifier (4 wire –full duplex) ...............................4
Connector X1 - DSUB 15 Male, to be connected to MR-J4 Servo Amplifier (2 wire –half duplex)..............................4
Connector X2 - DSUB 15 Female, to be connected to BiSS C Encoder ......................................................................5
Shielding ..........................................................................................................................................................................5
Suggested Extension Cable.............................................................................................................................................5
Strain Relief .....................................................................................................................................................................5
Handling Precautions.......................................................................................................................................................5
3. High Level Schematic of Typical Application................................................................................................................6
4. Quick-Start Guide.........................................................................................................................................................7
5. Architecture of Adapter.................................................................................................................................................9
BiSS C Interface ..............................................................................................................................................................9
Request Cycle Rate ...................................................................................................................................................10
Max Allowable BiSS C Cycle of Adapter ....................................................................................................................10
Default BiSS C Interface Setting of ITF-21-BISS-MIT................................................................................................11
Mitsubishi Serial Interface..............................................................................................................................................11
Adapter Alarm................................................................................................................................................................13
6. Setting Configuration..................................................................................................................................................13
Setting Supported ..........................................................................................................................................................14
7. ITF-21-BISS-MIT Firmware Version...........................................................................................................................19
8. PC Software: Interface Adapter Configurator.............................................................................................................19
Installation......................................................................................................................................................................19
Connection.....................................................................................................................................................................19
Setting Configuration .....................................................................................................................................................21
Firmware Download.......................................................................................................................................................23
Diagnostic ......................................................................................................................................................................25
BiSS C Cycle Period Calculation ...................................................................................................................................25
PC Software Version......................................................................................................................................................25
9. Document Revision History........................................................................................................................................26

3 | P a g e
THIS DOCUMENT IS SUBJECT TO CHANGE WITHOUT PRIOR NOTICE. SHOULD YOU HAVE ANY QUESTION, PLEASE FEEL FREE TO CONTACT OUR SALES
REV 1.0.2
Akribis Systems Pte Ltd
Blk 5012 Techplace II #01-05 Ang Mo Kio Avenue 5
Singapore 569876
Tel: [phone] Fax: [phone]
http://www.akribis-sys.com
RCB Reg No: 200410879N GST Reg No: 20-0410879-N
1. Dimension
2. Signal and Wiring
LED Indicator Definition
LED
ON Status
Description
Green
LED 1
Power on
Powered by controller or
USB-C
Red
LED 2
Error
Encoder connected
malfunction or
Adapter malfunction
Red LED 2
Green LED 1

4 | P a g e
THIS DOCUMENT IS SUBJECT TO CHANGE WITHOUT PRIOR NOTICE. SHOULD YOU HAVE ANY QUESTION, PLEASE FEEL FREE TO CONTACT OUR SALES
REV 1.0.2
Akribis Systems Pte Ltd
Blk 5012 Techplace II #01-05 Ang Mo Kio Avenue 5
Singapore 569876
Tel: [phone] Fax: [phone]
http://www.akribis-sys.com
RCB Reg No: 200410879N GST Reg No: 20-0410879-N
Pinout
Connector X1 - DSUB 15 Male, to be connected to MR-J4 Servo Amplifier (4 wire –full duplex)
Connector X1 - DSUB 15 Male, to be connected to MR-J4 Servo Amplifier (2 wire –half duplex)
I/O Connector
Pinout
Signal
Function
Pin 1
P5
Supply (5V)
Pin 2
GND
Return (0V)
Pin 3
MR
Request +
Pin 4
MRR
Request -
Pin 5
NC
Pin 6
NC
Pin 7
MX
Data +
Pin 8
MXR
Data -
Pin 9
NC
Pin 10
NC
Pin 11
NC
Pin 12
NC
Pin 13
NC
Pin 14
NC
Pin 15
NC
Casing
PE
PE
I/O Connector
Pinout
Signal
Function
Pin 1
P5
Supply (5V)
Pin 2
GND
Return (0V)
Pin 3
MR
Request + / Data + (Bidirectional)
Pin 4
MRR
Request - / Data –(Bidirectional)
Pin 5
NC
Pin 6
NC
Pin 7
MX
Not in use
Pin 8
MXR
Not in use
Pin 9
NC
Pin 10
NC
Pin 11
NC
Pin 12
NC
Pin 13
NC
Pin 14
NC
Pin 15
NC
Casing
PE
PE

5 | P a g e
THIS DOCUMENT IS SUBJECT TO CHANGE WITHOUT PRIOR NOTICE. SHOULD YOU HAVE ANY QUESTION, PLEASE FEEL FREE TO CONTACT OUR SALES
REV 1.0.2
Akribis Systems Pte Ltd
Blk 5012 Techplace II #01-05 Ang Mo Kio Avenue 5
Singapore 569876
Tel: [phone] Fax: [phone]
http://www.akribis-sys.com
RCB Reg No: 200410879N GST Reg No: 20-0410879-N
Connector X2 - DSUB 15 Female, to be connected to BiSS C Encoder
Note:
NC : Not connected
RSV : Reserved
Shielding
Minimise noise by ensuring the interface cable shield is connected to connector
Suggested Extension Cable
MR-J4 servo amplifier to ITF-21-BISS-MIT Cable : Up to 1m is recommended
ITF-21-BISS-MIT to Encoder Cable : Up to 20m only
Strain Relief
Avoid torque or tensile, please always use strain relief, whenever necessary
Handling Precautions
To avoid damaging the cable, apply force only to the connector during pulling or insertion. Ensure to tighten both screws
of the connectors.
I/O Connector
Pinout
Signal
Function
Pin 1
NC
Pin 2
GND
Return (0V)
Pin 3
MA+
BISS C Clock +
Pin 4
MA-
BISS C Clock -
Pin 5
RSV
Pin 6
RSV
Pin 7
+5V
Supply (5V)
Pin 8
+5V
Supply (5V)
Pin 9
GND
Return (0V)
Pin 10
RSV
Pin 11
RSV
Pin 12
NC
Pin 13
SLO+
BISS C Data +
Pin 14
SLO-
BISS C Data -
Pin 15
NC
Casing
PE
PE

6 | P a g e
THIS DOCUMENT IS SUBJECT TO CHANGE WITHOUT PRIOR NOTICE. SHOULD YOU HAVE ANY QUESTION, PLEASE FEEL FREE TO CONTACT OUR SALES
REV 1.0.2
Akribis Systems Pte Ltd
Blk 5012 Techplace II #01-05 Ang Mo Kio Avenue 5
Singapore 569876
Tel: [phone] Fax: [phone]
http://www.akribis-sys.com
RCB Reg No: 200410879N GST Reg No: 20-0410879-N
3. High Level Schematic of Typical Application
Refer to chapter 4. Quick-start Guide for part number of MR-J4 to ITF-21-BISS-MIT Interface Cable
NOTE: ITF-21-BISS-MIT is only supported by two series of MR-J4 servo amplifier: MR-J4-_B-RJJ001 and
MR-J4-_B-RJJ021

7 | P a g e
THIS DOCUMENT IS SUBJECT TO CHANGE WITHOUT PRIOR NOTICE. SHOULD YOU HAVE ANY QUESTION, PLEASE FEEL FREE TO CONTACT OUR SALES
REV 1.0.2
Akribis Systems Pte Ltd
Blk 5012 Techplace II #01-05 Ang Mo Kio Avenue 5
Singapore 569876
Tel: [phone] Fax: [phone]
http://www.akribis-sys.com
RCB Reg No: 200410879N GST Reg No: 20-0410879-N
4. Quick-Start Guide
USB-A to USB-C cable
BiSS C to Mitsubishi Serial Adapter
Part Number: ITF-21-BISS-MIT
MR-J4 Servo Amplifier
to
ITF-21-BISS-MIT
Interface Cable
Part number for 0.5m cable : YC-MRJ4-Mit-05-C067
Part number for 1m cable : YC-MRJ4-Mit-10-C067

8 | P a g e
THIS DOCUMENT IS SUBJECT TO CHANGE WITHOUT PRIOR NOTICE. SHOULD YOU HAVE ANY QUESTION, PLEASE FEEL FREE TO CONTACT OUR SALES
REV 1.0.2
Akribis Systems Pte Ltd
Blk 5012 Techplace II #01-05 Ang Mo Kio Avenue 5
Singapore 569876
Tel: [phone] Fax: [phone]
http://www.akribis-sys.com
RCB Reg No: 200410879N GST Reg No: 20-0410879-N
Step 1: Ensure software version of Mitsubishi MR-J4 servo amplifier is version C2.
The version can be check under Diagnosis > System Configuration of MELSOFT MR Configurator 2 Software
NOTE: ITF-21-BISS-MIT is only supported by two series of MR-J4 servo amplifier: MR-J4-_B-RJJ001 and
MR-J4-_B-RJJ021
Step 2: Ensure firmware of ITF-21-BISS-MIT can support the BiSS C encoder used. The firmware setting of ITF-21-
BISS-MIT in default supports 22-bit rotary BiSS C encoder and Mitsubishi 2 wire (half duplex) communication.
To use ITF-21-BISS-MIT with other number of bits of position data of rotary BiSS C encoder or Mitsubishi 4 wire
(full duplex) communication, user need to configure the setting of ITF-21-BISS-MIT with PC software accordingly
via USB-C.
Refer to PC Software section for setting configuration. To get the PC software, please contact Akribis System
sales. The detail of setting supported can be found in Setting Configuration section.
Step 3: Prepare the necessary cables as shown in Quick-Start Guide and connect them accordingly as per High Level
Schematic of Typical Application
Step 4: Configure MR-J4 Driver settings accordingly.
Step 5: If red LED turns on and MR-J4 alarm is triggered, it means Mitsubishi alarm and ITF-21-BISS-MIT alarm is
triggered.
The alarm number is corresponded to the alarm number shown in Mitsubishi Alarm Information (ALMC) of
Mitsubishi Serial Interface section.
If red LED turns on but MR-J4 alarm does not triggered, it means ITF-21-BISS-MIT alarm triggered. Refer to
Adapter Alarm for detail explanation of ITF-21-BISS-MIT alarm error.
The root causes of all these alarms can be checked with PC software, Interface Adapter Configurator. Refer to
diagnostic part of PC software section.

9 | P a g e
THIS DOCUMENT IS SUBJECT TO CHANGE WITHOUT PRIOR NOTICE. SHOULD YOU HAVE ANY QUESTION, PLEASE FEEL FREE TO CONTACT OUR SALES
REV 1.0.2
Akribis Systems Pte Ltd
Blk 5012 Techplace II #01-05 Ang Mo Kio Avenue 5
Singapore 569876
Tel: [phone] Fax: [phone]
http://www.akribis-sys.com
RCB Reg No: 200410879N GST Reg No: 20-0410879-N
5. Architecture of Adapter
ITF-21-BISS-MIT (BiSS C to Mitsubishi Serial Adapter) acts as BiSS C Master to sample position data from BiSS C
encoder (Slave) and at the same time also acts as Mitsubishi Serial Slave to provide position data sampled to MR-J4
driver (Mitsubishi Serial Master) whenever the driver requests from it.
BiSS C Interface
The BiSS C Master module of ITF-21-BISS-MIT use BiSS C (unidirectional) serial protocol. It is designed to work in a
point-to-point configuration and must be installed in a “single Master, single Slave” network. Besides, it does not support
line delay compensation.
The interface consists of two unidirectional differential pair of lines:
“MA” line transmit clock which is the position acquisition request from BiSS C master of ITF-21-BISS-MIT to encoder.
“SLO” line transfers position data from encoder to BiSS C master of ITF-21-BISS-MIT, synchronised to “MA” clock.
Data Format
Refer to the official BiSS website for more information which is not listed in this manual
www.biss-interface.com
Note:
Ack
During this period, the encoder is calculating and generating position data. “Ack” duration vary with encoder used.
Error (1-bit)
Active low. ‘1’ indicates normal, ‘0’ indicates error.
Warning (1-bit)
Active low. ‘1’ indicates normal, ‘0’ indicates warning.
CRC (6-bit)
Error detection checksum calculated from position, error and warning data. It is transmitted with MSB first and inverted

10 | P a g e
THIS DOCUMENT IS SUBJECT TO CHANGE WITHOUT PRIOR NOTICE. SHOULD YOU HAVE ANY QUESTION, PLEASE FEEL FREE TO CONTACT OUR SALES
REV 1.0.2
Akribis Systems Pte Ltd
Blk 5012 Techplace II #01-05 Ang Mo Kio Avenue 5
Singapore 569876
Tel: [phone] Fax: [phone]
http://www.akribis-sys.com
RCB Reg No: 200410879N GST Reg No: 20-0410879-N
Timeout
If the encoder is not yet ready for the next request cycle, it sets “SLO” low during timeout period. The timeout duration
varies with encoder used. Some encoder allowed user to configure the timeout period. The user can configure the
timeout period to minimum to achieve higher request cycle rate
Line Delay
Signals travelling between master and encoder experience significant time delay due to the cable length. The time delay
has no effect at low clock speeds (where the time delay is much shorter than the clock period). However, for high clock
speeds, the line delay will become significant and cause the data transmission to violate the protocol rules.
Due to the ITF-21-BISS-MIT (master) do not support line delay compensation, thus slower clock frequency must be used
for long encoder cable length. The default MA clock frequency used by adapter is 1MHz. With this clock frequency, the
maximum cable length that can be supported without line delay compensation is 20m.
Request Cycle Rate
BiSS C cycle period is the time between the first falling edge of MA clock to rising edge of SLO timeout. This determine
the max request cycle rate.
The BiSS C cycle duration can be calculated from the formula below:
𝑩𝒊𝑺𝑺 𝑪 𝒄𝒚𝒄𝒍𝒆 𝒅𝒖𝒓𝒂𝒕𝒊𝒐𝒏 = (𝟏𝟏. 𝟓 + 𝒏)𝑻 + 𝒂𝒄𝒌 + 𝒕𝒊𝒎𝒆𝒐𝒖𝒕
Where
n= number of bit of position data
T= MA clock period
From the formula above, we can see that BiSS C cycle duration is not fixed but vary with number of bits of position data,
MA clock frequency used, ack duration and timeout duration.
Max Allowable BiSS C Cycle of Adapter [ IMPORTANT! ]
To ensure ITF-21-BISS-MIT function properly, the BiSS C cycle period should not exceed 102μs.
Basically, ITF-21-BISS-MIT can support any situation as long as the requirement of Max Allowable of BiSS C Cycle of
ITF-21-BISS-MIT of 102μs is adhered.
Calculation Example:
For n=12 bit, BiSS MA Clock Period=1MHz (1 μs), BiSS SLO ack = 35 μs, BiSS SLO Timeout=23.5 μs
BiSS C Cycle Period = (11.5 + 12) 1 μs + 35 μs +23.5 μs
= 82 μs
For n=32 bit (worse case than 26 bit), BiSS MA Clock Period=1MHz (1 μs), BiSS SLO ack = 35 μs, BiSS SLO
Timeout=23.5 μs
BiSS C Cycle Period = (11.5 + 32) 1 μs + 35 μs +23.5 μs
= 102 μs (equal to max allowable BiSS C Cycle Period of the adapter)