Mitsubishi Electric MR-J4 Instruction Manual page 516

12. ABSOLUTE POSITION DETECTION SYSTEM
(d) At the time of forced stop reset
210 ms after the forced stop is deactivated, the base circuit turns on, and RD turns on further 5 ms
after that, turns on. Always get the current position data using RD as the trigger before the position
command is issued.
1) When power is switched on in a forced stop status
Power
supply
SON
EM2
Base circuit
RD
Absolute position data
command transmission
Absolute position
data receive
Current position
Pulse train command
2) When a forced stop is activated during servo on
SON
EM2
Base circuit
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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210 ms
5 ms
During this period, get absolute position data.
95 ms
5 ms
Absolute position
data
During this period, get absolute position data.
Current position change
Absolute position
data
Current position change