Mitsubishi Electric MELSEC-L LD75P User Manual page 625

(4) Errors
(a) When a dedicated instruction is completed abnormally, the error complete signal
((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1).
Check and take measures against the error referring to  Page 650, Section 15.5.
(5) Precautions
(a) After the absolute position detection system is configured, the absolute position
restoration must be carried out at least once after the power is turned ON or reset.
Unless the absolute position restoration of the LD75 is completed, the servo
amplifier will not be turned ON.
(b) Execute absolute position restoration when the PLC READY signal [Y0] is OFF.
(c) The restoration of the absolute position (Z.ABRST instruction execution) can also
be carried out when the servo amplifier is turned ON.
If this is carried out, however, the servo ON signal is turned OFF for approx. 60ms + scan time (servo OFF) and
the motor may move. When carrying out the absolute position restoration during servo OFF, install an
electromagnetic brake and output the Z.ABRST instruction to that brake during the Z.ABRST instruction
execution.
(d) The following dedicated instructions cannot be executed simultaneously for the
same axis. (Can be executed simultaneously for different axes.)
• Positioning start instructions (ZP.PSTRT1 to ZP.PSTRT4)
• Absolute position restoration instructions (Z.ABRST1 to Z.ABRST4)
• Teaching instructions (ZP.TEACH1 to ZP.TEACH4)
(e) If the Z.ABRST instruction is executed in the following cases, an error "Dedicated
instruction error" (error code: 804) will occur and absolute position restoration
cannot be carried out.
• Any value other than 0 is set to "Status" (device: (S)+4) of the control data (at communication start with servo
amplifier).
• The instruction for a non-existent axis is specified. (Example: The Z.ABRST2 instruction is specified when
the LD75P1 is used.)
• "Status" (device: (S)+4) of the control data is changed during absolute position restoration (during
communication with servo amplifier).
CHAPTER 14 DEDICATED INSTRUCTIONS
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