Precautions - Mitsubishi Electric MELSEC iQ-R Series User Manual

[When using MR-J5(W)-G]
The following explains the settings and the current position restoration method when the absolute position system is
constructed using MR-J5(W)-G.
• MR-J5(W)-G setting
Select "1: Enabled (absolute position detection system)" in "Absolute position detection system selection (PA03.0)" of the
servo parameter (basic setting). In addition, select "0: Disabled" in "Absolute position counter warning (AL.E3) selection
(PC29.5)" of the servo parameter (extension setting).
• The motion system setting
Select "-1: Auto" or "1: Enabled" in "Absolute position control setting" in the real drive axis whose connected device is MR-
J5(W)-G.
• The current position restoration method
Execute the 64-bit current position restoration.
Virtual drive axis
Each current position is restored as follows.
Current position
Cumulative current position
Set position
■Current position restoration timing
Current position restoration is executed at the axis variable initialization. For details of the axis variable initialization timing,
refer to the following.
Page 34 Axis variable initialization timing
Virtual linked axis
Each current position is restored as follows.
Current position
Cumulative current position
Set position
■Current position restoration timing
Current position restoration is executed at the axis variable initialization. For details of the axis variable initialization timing,
refer to the following.
Page 34 Axis variable initialization timing

Precautions

• In the absolute position control setting, when the connected device side setting and the motion system side setting are
mismatched, the absolute position control may not be executed correctly. (If there is the ENCODER_ABS_STATUS object
in the connected device, the error "Absolute Position Management Setting Mismatch" (error code: 1A9AH) will occur at
current position restoration.)
• If TRUE is set in the homing required setting, address information stored in the motion system is not guaranteed.
Incremental system
Restored in "0".
A value which rounds the restored cumulative current value with the ring counter.
Incremental system
Restored in "0".
A value which rounds the restored cumulative current value with the ring counter.
Absolute position system
Restored in the backup data value.
Absolute position system
Restored in the backup data value.
2 AXIS MANAGEMENT FUNCTIONS
2.6 Absolute Position Control
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