8.6
The Motion module can construct an absolute position system.
The following describes precautions when constructing the absolute position system.
The configuration of the absolute position system is shown below.
• Position command
• Control command
• Servo parameter
CPU
module
• Monitor data
*1 Depending on the servo amplifier used, it may be necessary to install a battery for retaining the location of the home position return in
the servo amplifier.
Setting for absolute positions
For constructing an absolute position system, use a servo amplifier and a servo motor which enable absolute position
detection.
• Setting of MR-J5(W)-G
Select "1: Enabled (absolute position detection system)" in "Absolute position detection system (PA03.0)". In addition, select
"0: Invalid" in the servo parameter "Absolute position counter warning (AL.0E3) selection (PC29.5)".
To connect the MR-J5(W)-G, set "Electrical gear numerator (PA06)" and "Electrical gear denominator (PA07)" so that their
ratio becomes 1:16.
Precautions
• When "degree" is used for the setting unit, the absolute position system can be established in infinite feed.
• When a unit other than "degree" is used for the setting unit, infinite feed is not possible when using the absolute position
system.
• At the first connection with the servo amplifier in the absolute position system, a warning "Home position return data
incorrect" (warning code: 0D3CH) occurs and the home position return request turns ON if any of the following conditions is
met.
• The backup data in the unit is broken.
• The rotation direction setting of the servo amplifier is different from that in the backup data.
• The backup was performed while the home position return request was ON.
• Absolute position loss occurred on the servo amplifier side.
• HomeOffset is different from that in the backup data.
• The encoder resolution is different from that in the backup data.
• The servo amplifier model is different from that in the backup data.
• The movement amount removed with the electronic gear of the servo amplifier cannot be restored.
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Absolute Position System
• Position command
• Control command
Motion
• Servo parameter
module
Home
position
address
Restoration of the current value
search engine
Battery
*1
Servo amplifier
• Monitor data
Servo motor
Motor
M
Back up
Encoder
8 CONTROL SUB FUNCTIONS
8.6 Absolute Position System
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