Transfer Method - Mitsubishi Electric Melservo MR-J3-A Instruction Manual

14. ABSOLUTE POSITION DETECTION SYSTEM

14.7.2 Transfer method

The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the servo-on
(SON) going OFF, an emergency stop (EMG), or alarm (ALM), is explained below. In the absolute position
detection system, every time the servo-on (SON) is turned on, the ABS transfer mode (ABSM) should always
be turned on to read the current position in the servo amplifier to the controller. The servo amplifier transmits to
the controller the current position latched when the ABS transfer mode (ABSM) switches from OFF to ON. At
the same time, this data is set as a position command value inside the servo amplifier. Unless the ABS transfer
mode (ABSM) is turned ON, the base circuit cannot be turned ON.
(1) At power-on
(a) Timing chart
ON
Power
supply
OFF
Servo-on
(SON)
4)
ABS transfer mode
(ABSM)
ABS request
(ABSR)
ABS transmission
data ready
(ABST)
Transmission
(ABS) data
ABSB0:bit1
ABSB1:bit2
Base circuit
Ready
(RD)
Note. For details, refer to (1) (b) of this section.
ON
OFF
2), 3)
ON
During transfer of ABS
OFF
(Note)
ON
OFF
(Note)
ON
OFF
(Note)
ABS data
95[ms]
ON
OFF
ON
OFF
If SON is turned ON before ABSM is input
1)
Operation
enabled
14 - 8
During transfer of ABS
(Note)
(Note)
(Note)
ABS data
95[ms]
Operation
enabled