Transfer Method - Mitsubishi Electric MR-J2S-A Instruction Manual

15. ABSOLUTE POSITION DETECTION SYSTEM

15.7.2 Transfer method

The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the
servo-on (SON) going OFF, an emergency stop (EMG), or alarm (ALM), is explained below. In the
absolute position detection system, every time the servo-on (SON) is turned on, the ABS transfer mode
(ABSM) should always be turned on to read the current position in the servo amplifier to the controller.
The servo amplifier transmits to the controller the current position latched when the ABS transfer mode
(ABSM) switches from OFF to ON. At the same time, this data is set as a position command value inside
the servo amplifier. Unless the ABS transfer mode (ABSM) is turned ON, the base circuit cannot be
turned ON.
(1) At power-on
(a) Timing chart
ON
Power
supply
OFF
Servo-on
(SON)
4)
ABS transfer mode
(ABSM)
ABS request
(ABSR)
Send data ready
(TLC)
Transmission
(ABS) data
D01:bit1
ZSP:bit2
Base circuit
Ready
(RD)
Note. For details, refer to (1) (b) in this section.
ON
OFF
2), 3)
ON
During transfer of ABS
OFF
(Note)
ON
OFF
(Note)
ON
OFF
(Note)
ABS data
80[ms]
ON
OFF
1)
ON
Operation
enabled
OFF
15 - 8
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If SON is turned ON before ABSM is input
During transfer of ABS
(Note)
(Note)
(Note)
ABS data
80[ms]
Operation
enabled