Procedure Of Replacing A Servo Motor With Battery-Less Absolute Position Encoder - Mitsubishi Electric MELSERVO MR-J5 Series User Manual

Procedure of replacing a servo motor with battery-less absolute
position encoder
To replace a servo motor with battery-less absolute position encoder, use the following procedure.
Servo motor replacement procedure
For servo amplifiers with firmware version D8 or later, step 3 is not required.
1.
Replacing the servo motor
Turn off the power supply of the servo amplifier and replace the servo motor.
2.
Canceling [AL. 01A Servo motor combination error]
When the power supply of the servo amplifier is turned on, [AL. 01A.5 Servo motor combination error 3] occurs.
After setting [Pr. PA03.1 Servo motor replacement preparation] to "1" (enabled), cycle the power of the servo amplifier or
perform the software reset and then deactivate [AL. 01A.5].
3.
Cycling the power
After checking that [AL. 01A.5] does not occur, cycle the power of the servo amplifier or perform the software reset.
4.
Homing
The absolute position data is erased by servo motor replacement. Before starting operation, perform homing.
Procedure of replacing the servo motor without changing the servo parameter setting
By setting [Pr. PF63.0 [AL. 01A.5 Servo motor combination error 3] selection] to "1" (disabled) while the absolute position
detection system is enabled, an in-use servo motor with a batteryless absolute position encoder can be replaced without
changing the setting value of [Pr. PA03.1 Servo motor replacement preparation].
Connecting a servo motor that had not been connected at the startup of the absolute position detection system will cause [AL.
025 Absolute position erased], erasing absolute position data.
Therefore, check if a correct servo motor is connected.
To replace the servo motor without changing the servo parameter setting, refer to the following procedure. Set [Pr. PF63.0] to
"1" (disabled) in advance, and reset the controller or cycle the power.
1.
Replacing the servo motor
Turn off the power supply of the servo amplifier and replace the servo motor.
2.
Canceling [AL. 025 Absolute position erased]
When the power supply of the servo amplifier is turned on, [AL. 025.1 Servo motor encoder absolute position erased] occurs.
Cycle the power of the servo amplifier to deactivate [AL. 025.1].
3.
Homing
When [AL. 025] occurs, the absolute position data is erased. Before starting operation, perform homing.
7 ABSOLUTE POSITION DETECTION SYSTEM
7
417
7.1 Outline