Mitsubishi Electric MR-J4-10A(-RJ) Instruction Manual page 551

12. ABSOLUTE POSITION DETECTION SYSTEM
(c) At the time of alarm reset
If an alarm has occurred, detect ALM and turn off SON. After removing the alarm occurrence factor
and deactivating the alarm, get the absolute position data again from the servo amplifier in
accordance with the procedure in (a) in this section.
ON
SON
OFF
ON
RES
OFF
ON
Base circuit
OFF
ALM ON
OFF
ON
RD
OFF
Absolute position data
command transmission
Absolute position
data receive
Current position
Pulse train command
95 ms
5 ms
During this period, get absolute position data.
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Current position change
Absolute position
data