Mitsubishi MR-J4-10A Instruction Manual page 449

12. ABSOLUTE POSITION DETECTION SYSTEM
(4) At the time of forced stop reset
(a) If the power is switched on in the forced stop state
he forced stop state can be reset while the absolute position data is being transferred. If the forced
stop state is reset while the absolute position data is transmitted, the base circuit is turned on 95 ms
after resetting. If ABSM is off when the base circuit is turned on, RD is turned on 5 ms after the
turning on of the base circuit. If ABSM is on when the base circuit is turned on, it is turned off and
then RES is turned on. The absolute position data can be transmitted after the forced stop state is
reset.
The current position in the servo amplifier is updated even during an forced stop. When SON or
ABSM are turned on during an forced stop as shown below, the servo amplifier transmits to the
controller the current position latched when ABSM switches from off to on, and at the same time, the
servo amplifier sets this data as a position command value. However, since the base circuit is off
during a forced stop, the servo-lock status is not encountered. Therefore, if the servo motor is
rotated by external force or the like after ABSM is turned on, this travel distance is accumulated in
the servo amplifier as droop pulses. If the forced stop is cleared in this status, the base circuit turns
on and the motor returns to the original position rapidly to compensate for the droop pulses. To avoid
this status, reread the absolute position data before clearing the forced stop.
Power
supply
SON
EM2
ABSM
ABSR
ABST
ABSB0
ABSB1
Base circuit
RD
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
12 - 24
Reset
During transfer of ABS
Absolute position
data
95 ms
5 ms
Operation
enabled