Mitsubishi Electric MELSERVO-J5 MR-J5-G Series, User Manual

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11 USING A DIRECT DRIVE MOTOR
11.7 Absolute position detection system [A]
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11
Precautions
• To configure the absolute position detection system by using the direct drive motor manufactured by Mitsubishi Electric,
batteries and the absolute position storage unit (MR-BTAS01) are required.
• Refer to the following for the encoder cable and the absolute position storage unit.

Direct Drive Motor User's Manual
• If the absolute position storage unit (MR-BTAS01) is replaced, the absolute position is erased. In this case, start up the
direct drive motor again and perform homing.
• Replace the battery while the control circuit power is on. If the battery is replaced with the control circuit power supply
turned off, [AL. 25 Absolute position erased] occurs. A battery cannot be replaced using the battery connection cable (MR-
J3BTCBL03M).
• If the encoder cable is disconnected, [AL. 025 Absolute position erased] occurs.
• Timing chart at power-on under the condition of performing magnetic pole detection
*1

Page 299 Absolute position data transfer protocol
*2 When the magnetic pole detection is performed, [AL. 093 ABS data transfer warning] occurs.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
100 ms 100 ms
*1
*1
*1
*1
*1
*1
*2
Power supply
First servo-on after power on Second or later servo-on
SON (Servo-on)
ABSM (ABS transfer mode) During ABS transfer
During ABS transfer
ABSR (ABS request)
ABST (ABS transmission data ready)
ABSB0 (ABS transmission data bit 0)
ABSB1 (ABS transmission data bit 1) Absolute position
data
Absolute position
data
Base circuit
15 s or less
Magnetic pole
detection time
Operation
possible
RD (Ready)
Operation
possible
Occurring
Warning
Not occurring