Absolute Position Detection System - Mitsubishi MR-J4-10A Instruction Manual

16. USING A DIRECT DRIVE MOTOR

16.4 Absolute position detection system

When you use the system with absolute position detection system by DIO transfer (set [Pr. PA03] to "_ _ _
1") with the following conditions, the first servo-on after power on will trigger the magnetic pole detection and
[AL. 93 ABS data transfer warning] will occur.
Magnetic pole detection always enabled (Set [Pr. PL03] to "_ _ _ 1".)
The Z-phase pulse of the direct drive motor has not turned on.
When the magnetic pole detection is performed with absolute position detection system by DIO transfer, a
deviation occurs between absolute position data of the servo amplifier side and controller side. If the
operation is continued, positions will be mismatched. Therefore, [AL. 93 ABS data transfer warning] will
occur on the servo amplifier side. To cancel [AL. 93 ABS data transfer warning], cycle SON (Servo-on) or set
a home position.
POINT
To configure the absolute position detection system by using the direct drive
motor, the battery and the absolute position storage unit (MR-BTAS01) are
required.
For encoder cables and absolute position storage units, refer to "Direct Drive
Motor Instruction Manual".
Replacing the absolute position storage unit (MR-BTAS01) will erase the
absolute position. Start up the direct drive motor again and perform home
positioning.
Replace the battery while the control circuit power is on. Replacing the unit
during control circuit power supply off will cause [AL. 25 Absolute position
erased]. A battery cannot be replaced using battery connection cable (MR-
J3BTCBL03M).
[AL. 25 Absolute position erased] will occur if the encoder cable is disconnected.
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