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

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12 USING A FULLY CLOSED LOOP SYSTEM
12.7 Absolute position detection system
12.7
Absolute position detection system
Structure
An absolute type linear encoder is required to configure an absolute position detection system under fully closed loop control
using a linear encoder.
In this case, an encoder battery need not be installed to the servo amplifier.
When a battery backup type rotary encoder is used, an absolute position detection system can be configured by installing the
encoder battery to the servo amplifier.
When a batteryless rotary encoder is used, the encoder battery need not be mounted to the servo amplifier.
• Use an absolute position type encoder for the load-side encoder.
Using an incremental type encoder triggers [AL. 037 Parameter error].
• When using the Mitsubishi Electric direct drive motor for the load-side encoder, the Z-phase must be passed
through before homing.
• Switching between semi closed loop control and fully closed loop control cannot be performed. Set [Pr.
PE01.0 Fully closed loop function selection] to "0" (Always enabled).
If [Pr. PE01.0 Fully closed loop function selection] is set to "1" (switching by fully closed loop selection
command from the controller and by input device CLD), [AL. 037 Parameter error] occurs.
• Use the encoder within the range of 32-bit absolute position data.
• When a linear encoder is used for the load-side encoder, absolute position-related alarms ([AL. 025
Absolute position erased]) and warnings ([AL. 092 Battery cable disconnection warning] and [AL. 09F
Battery warning]) are not detected.
Precautions
When the absolute position detection system is configured with a rotary encoder, the battery life will be shorten because the
current consumption is increased as the power from the battery is supplied to both the servo motor-side and the load-side
encoder.