Mitsubishi MR-J4-10A Instruction Manual page 443

12. ABSOLUTE POSITION DETECTION SYSTEM
1) After the absolute position data is transmitted, RD turns on by ABSM-off. When RD is on, ABSM-
on is not received.
2) Even if SON is turned on before ABSM is turned on, the base circuit is not turned on until ABSM
is turned on.
If a servo alarm has occurred, ABSM is not received. ABSM allows data transmission even while
a servo warning is occurring.
3) If ABSM is turned off during the ABS transfer mode, the ABS transfer mode is interrupted and
[AL. E5 ABS time-out warning] occurs.
If SON is turned off, RES is turned on, and EM2 is turned off during the ABS transfer mode, [AL.
E5 ABS time-out warning] occurs.
4) Note that if ABSM is turned on for a purpose other than absolute position data transmission, the
output signals will be assigned the functions of absolute position data transmission.
5) ABSM is not accepted while the base circuit is on. For re-transferring, turn off SON signal and
keep the base circuit in the off state for 20 ms or longer.
(b) Detailed description of absolute position data transfer
Servo-on in
programmable
controller
SON
ABSM
ABSR
ABST
ABSB0
ABSB1
Note. If SON does not turn on within 1 s after ABSM off, [AL. EA ABS servo-on warning] will occur. But it will not
CN1 Pin No.
22
23
25
ON
OFF
ON
OFF
1)
ON
OFF
ON
OFF
2)
ON
OFF
influence the transfer. SON on will cancel [AL. EA] automatically.
ABSM (ABS transfer mode): off ABSM (ABS transfer mode): on
Positioning completion
Zero speed detection
During torque limit control
(Note)
During transfer of ABS
3) 5)
4) 6)
Lower
2 bits
12 - 18
Output signal
transmission data bit 03
transmission data bit 1
transmission data ready
7)
Checksum
Upper 2 bits