Mitsubishi Electric A173UHCPU Programming Manual page 310

8. AUXILIARY AND APPLIED FUNCTIONS
After removing or replacing the battery unit, correctly install the new unit and establish the
absolute position.
After a servo battery error occurs, eliminate the cause of the error and ensure operation is safe
before establishing the absolute position.
After the mechanical system is disturbed by a shock, make the necessary checks and repairs,
and ensure operation is safe before establishing the absolute position.
(2) In the absolute positioning system, the absolute position may be lost under the
following conditions:
Re-establish the absolute position using zeroing or by aligning the machine
position and using current value change.
(a) After removing or replacing the battery unit.
(b) On occurrence of a servo battery error (detected at servo amplifier power
on).
(c) After the mechanical system is disturbed by a shock.
(3) Power of allowed traveling points can be monitored in the system setting mode
of a peripheral device, and the current value history can be monitored in the
monitor mode.
(For details on monitoring power of allowed traveling points and the current
value history, refer to the operating manual for the peripheral device being
used.)
(a) Current value history monitor
1) Month/day/hour/minute
The time when a zeroing is completed or the servo amplifier power is
turned ON or OFF is indicated.
In order to display the time correctly, it is necessary to first set the clock
data at the programmable controller side, then switch ON M9028 (clock
data read request) from the sequence program.
2) Encoder current value
When using MR-H-BN (version BCD-B13W000-B2 or later) ,
MR-J2S-B(without restriction) or MR-J2-B (version BCD-B20W200-A1 or
later), the multiple revolution data and within-one-revolution data read
from the encoder is displayed.
(Note): For the encoder current value in the home position data area, the
encoder current value when the motor is within the in-position range
after completion of a zeroing is displayed (not the encoder value at
the home position).
3) Servo command value
The command value issued to the servo amplifier is displayed.
4) Monitor current value
The current value controlled within the servo system CPU is displayed.
(Note) : A value close to the feed current value is displayed, but, since the
monitor current value and feed current value are different data, the
display of different values does not indicate an error.
5) Alarms
When an error involving resetting of the current value occurs while the
servo amplifier power is ON, an error code is displayed. For details of the
error, refer to the error contents area (related error list) at the bottom of
the screen.
CAUTION
8 − 13