Current Position Restoration - Mitsubishi Electric MELSEC iQ-R Series User Manual

Current position restoration

Specify whether the absolute position system is used for the current position restoration or not in the absolute position control
setting. If the values out of range is set, the error "Out of Absolute Position Management Setting Range" (error code: 1AD6H)
occurs.
Absolute position control
setting
Not use the absolute position system
Use the absolute position system
Automatic setting (Acquire from
connected device)
"-1: Auto" can be set when the connected device has the ENCODER_ABS_STATUS object.
When "-1: Auto" is not set, the connected device side setting and the motion system side setting must be matched. When
those are mismatched, normal current position control cannot be executed. (If the connected device has the
ENCODER_ABS_STATUS object and the settings are mismatched, the error "Absolute Position Management Setting
Mismatch" (error code: 1A9AH) will occur at the current position restoration.)
• Setting example
When the absolute position system is used, select "1: Enabled (absolute position detection system)" for "absolute position
detection system selection (PA03.0)" of the servo parameter (basic parameter) in MR-J5(W)-G. In the motion system, select
"1: Use the absolute position system" for "absolute position control setting" in the real drive axis which uses MR-J5(W)-G as
the connected device.
The current position restoration timing differs depending on the axis type. For details, refer to the following.
Page 87 Current position restoration for each axis type
Whether "incremental system" or "absolute position system" was used for the current position restoration is
recorded in the event history.
Incremental system
This system restores the current position without using the absolute position data.
When the current position restoration has been completed, the axis current position (cumulative current position and feed
machine position) becomes "0", and the homing request turns TRUE. (The set position may not become "0" depending on the
ring counter setting. (Page 67 Positioning Range))
When restoration is completed, the axis current position restoration status is "2: RestoredInIncSystem".
If the machine position establishment with the slave device is not required, set FALSE in the homing request setting. This
prevents the homing request from turning TRUE at the restoration.
The absolute position data backup is not executed.
2 AXIS MANAGEMENT FUNCTIONS
82
2.6 Absolute Position Control
Setting value
0: ABSDisabled
1: Enabled
-1: Auto
Details
Page 82 Incremental system
Page 83 Absolute position system
Page 83 Connected device setting