Mitsubishi Electric MR-J5 Series, Руководство пользователя

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7 ABSOLUTE POSITION DETECTION SYSTEM
7.3 Absolute position detection system by DIO [A]
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Signal explanation
When the absolute value data is transferred, the signals of connector CN3 change as follows. On completion of data transfer,
the signal returns to the previous status.
Other signals do not change.
*1 When "Used in absolute position detection system" is selected in [Pr. PA03], pin 17 acts as ABSM and pin 18 as ABSR. They do not
return to the original signals even if data transfer is completed.
Startup procedure
1.
Battery installation (when using a direct drive motor)
Refer to the following.

Page 296 Battery
2.
Servo parameter setting
Set [Pr. PA03.0] to "1" and cycle the power.
3.
Canceling [AL. 025 Absolute position erased]
After the encoder cable is connected, [AL. 025] occurs at initial power-on. Cycle the power to deactivate the alarm.
4.
Confirmation of absolute position data transfer
When SON is turned on, the absolute position data is transferred to the programmable controllers. Transferring the proper
absolute position data will trigger the following.
• RD (Ready) turns on.
• The absolute position data ready setting of the programmable controller turns on.
• The ABS data display window in MR Configurator2 and programmable controller side ABS position data registers show the
same value (at the home position address of 0). If warning such as [AL. 0E5 ABS time-out warning] or programmable
controllers side transfer error occurs, refer to the following and take corrective action.

Page 213 Absolute position data transfer errors

MR-J5 User's Manual (Troubleshooting)
5.
Homing
Homing is required in the following case.
• At system set-up
• At servo amplifier replacement
• At servo motor replacement
• When [AL. 025 Absolute position erased] has occurred
In the absolute position detection system, by executing a homing at system set-up, the absolute position coordinates is
configured.
Signal name Symbol CN3
connector
pin No. Function and application I/O
division Control
mode
ABS transfer mode ABSM 17
*1
While ABSM is on, the servo amplifier is in the ABS transfer mode, and
the functions of CN3-22, CN3-23, and CN3-25 pins change as
indicated in this table. DI-1 P (Position
control)
ABS request ABSR 18
*1
Turn on ABSR to request the absolute position data during ABS
transfer mode. DI-1
ABS transmission data
bit 0 ABSB0 22 Indicates the lower bit of the absolute position data (2 bits) which is
sent from the servo to the programmable controller in the ABS transfer
mode. When there is a signal, ABSB0 is on. DO-1
ABS transmission data
bit 1 ABSB1 23 Indicates the upper bit of the absolute position data (2 bits) which is
sent from the servo to the programmable controller in the ABS transfer
mode. When there is a signal, ABSB1 is on. DO-1
ABS transmission data
ready ABST 25 Indicates ABS transmission data ready during ABS transfer mode.
When ready, ABST is on. DO-1
Homing CR 41 When CR is turned on, the position control counter is cleared and the
home position data is stored into the non-volatile memory (backup
memory). DI-1