Mitsubishi Electric Melservo MR-J3-A Instruction Manual page 446

14. ABSOLUTE POSITION DETECTION SYSTEM
(d) At the time of forced stop reset
210ms after the forced stop is deactivated, the base circuit turns on, and further 5ms after that, the ready
(RD) turns on. Always get the current position data from when the ready (RD) is triggered until before the
position command is issued.
1) When power is switched on in a forced stop status
Power
supply
Servo-on
(SON)
Emergency stop
(EMG)
Base circuit
Ready
(RD)
Absolute position data
command transmission
Absolute position
data receive
Current position
Pulse train command
2) When a emergency stop is activated during servo on
Servo-on
(SON)
Emergency stop
(EMG)
Base circuit
Ready
(RD)
Absolute position data
command transmission
Absolute position
data receive
Current position
Pulse train command
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
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210ms
5ms
During this period, get absolute position data.
95ms
5ms
Current position change
ABS data
During this period, get absolute position data.
Current position change
ABS data