Mitsubishi Electric MELSEC iQ-R Series User Manual page 85

Absolute position system
This system restores the current position using the absolute position data.
At the current position restoration, the axis current position (set position, cumulative current position, and feed machine
position) is restored based on backed up absolute position data. When restoration is completed, the axis current position
restoration status becomes "4: RestoredInAbsSystem".
However, if the warning "Absolute Position Data Incorrect Warning" (warning code: 0D00H) has been detected at restoration,
the axis current position restoration status becomes "3: RestoredInAbsSystemUnHomed". The current position is restored
with the same content as the incremental system and the homing request turns TRUE. (The absolute position data is
maintained.) At this time, the absolute position system is not enabled until homing is completed. Be sure to execute homing.
(When homing has been normally completed, the axis current position restoration status becomes "4:
RestoredInAbsSystem".)
When the absolute position system is used, the restoration content differs depending on the axis type. For details, refer to the
following.
Page 87 Current position restoration for each axis type
The warning "Absolute Position Data Incorrect Warning" (warning code: 0D00H) occurs in the following case.
• The absolute position data is illegal at the current position restoration by the following causes
• The axis type has been changed. (The axis type of the absolute position data does not match the axis variable.)
• The absolute position data is deleted by the memory error, etc.
• The homing request has been TRUE at backup.
• The axis driver unit conversion (numerator/denominator) is changed.
• Even though the machine homing has been started, it has not been normally completed.
[Only for real drive axes]
• "Absolute position erased" is detected in the driver side.
• "Polarity (607EH)" b7: position polarity of the driver object is changed.
• "HomeOffset(607Ch)" of the driver object is changed.
• The connected driver device is changed.
• The encoder resolution of the driver device is changed.
Connected device setting
The absolute position system setting is taken from the connected device with the ENCODER_ABS_STATUS object by the
SDO communication, and the current position is restored.
Set the absolute position system setting in the connected device side.
If the connected device does not have the ENCODER_ABS_STATUS object, it operates as the incremental system without an
error.
2 AXIS MANAGEMENT FUNCTIONS
2.6 Absolute Position Control
2
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