Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 113

Erasing of absolute position data
If a minor error (error code: 197EH) occurs because of a communication error between the servo amplifier and encoder,
depending on the servo amplifier software version, "[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n)"
may turn ON, and absolute position data is erased.
: There is no restriction by the version.
Servo amplifier
Model name Software version
MR-J3-B C3 or later
MR-J3-B-RJ006
MR-J3-B Safety
MR-J3-B-RJ004 C5 or later
MR-J3-B-RJ080W
MR-J3W-B B1 or later

MR-J4-B
MR-J4-B-RJ
MR-J4-B-LL
MR-J4W-B
Others
Clearing absolute position data
Absolute position data stored in the Motion CPU module is erased when the built-in memory (for all axes) is cleared with the
rotary switch. Always perform home position return after clearing absolute position data. Furthermore, take a data backup if
necessary. Please note that absolute position data will not be lost when installing the operating system software.
CAUTION
• After removing or replacing the battery unit of the servo amplifier, check that the absolute position is established.
• After a servo amplifier battery error occurs, eliminate the cause of the error and ensure operation is safe before setting the absolute position.
• After the mechanical system is disturbed by a shock, make the necessary checks and repairs, and ensure operation is safe before setting the absolute
position.
• The address setting range of absolute position system is -2147483648 to 2147483647. It is not possible to
restore position commands that exceed this limit, or current values after a power interruption. Correspond
by the [degree] setting for an infinite feed operation.
• Even when the current value address is changed by a current value change instruction, the restored data
for the current value after a power interruption is the value based on the status prior to execution of the
current value change instruction.
• When home position return has not been completed (home position return request is ON), restoration of the
current value after a power interruption is not possible.
Operation of "[St.1069] Home position return request (R: M32409+32n/Q:
M2409+20n)" when error occurs
"[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n: OFF)" does not turn
ON.
"[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n: ON)" turns ON.
(absolute position data is lost)
4 AUXILIARY AND APPLIED FUNCTIONS
4.5 Absolute Position System
4
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