Mitsubishi Electric MELSERVO MR-J5 Series User Manual page 618

13.7
Absolute position detection system
Structure
An absolute position linear encoder is required to configure an absolute position detection system under fully closed loop
control using a linear encoder.
In this case, an encoder battery need not be installed to the servo amplifier.
When a battery backup type rotary encoder is used, an absolute position detection system can be configured by installing the
encoder battery to the servo amplifier.
When a batteryless rotary encoder is used, the encoder battery need not be mounted to the servo amplifier.
• Use an absolute position type encoder for the load-side encoder.
Using an incremental type encoder triggers [AL. 037 Parameter error].
• When using the Mitsubishi Electric direct drive motor for the load-side encoder, the Z-phase must be passed
through before homing.
• Switching between semi closed loop control and fully closed loop control cannot be performed. Set [Pr.
PE01.0 Fully closed loop function selection] to "0" (Always enabled). If [Pr. PE01.0] is set to "1" (switching
by "fully closed loop selection" from the controller (C_CLD) and by the input device "fully closed loop
selection" (CLD)), [AL. 037] occurs.
• Use the encoder within the range of 32-bit absolute position data. When the degree unit is used, the infinite
feed function is enabled. For details, refer to "Infinite feed function" in the following manual.
MR-J5 User's Manual (Function)
• When a linear encoder is used for the load-side encoder, absolute position-related alarms ([AL. 025
Absolute position erased]) and warnings ([AL. 092 Battery cable disconnection warning] and [AL. 09F
Battery warning]) are not detected.
Precautions
When the absolute position detection system is configured with a rotary encoder, the battery life will be shortened because the
current consumption is increased as the power from the battery is supplied to both the servo motor-side and the load-side
encoder.
To set [Pr. PL01.0 Servo motor magnetic pole detection selection] to "0" (Magnetic pole detection disabled) by using the direct
drive motor manufactured by Mitsubishi Electric, connect batteries and the absolute position storage unit (MR-BTAS01).
Otherwise, [AL. 092 Battery cable disconnection warning] or [AL. 09F Battery warning] is detected. When [AL. 092] or [AL.
09F] occurs, setting [Pr. PL01.0] to "0" may not disable the magnetic pole detection.
When the fully closed loop system is used with a Mitsubishi Electric-manufactured direct drive motor connected to the servo
motor side and an absolute position type linear encoder connected to the load side and [Pr. PL01.0] is set to "0", set [Pr.
PA03.0 Absolute position detection system selection] to "1" (enabled (absolute position detection system)), and reset the
controller or cycle the power to reflect the parameter setting. After reflecting the setting, cycle the power and turn on the Z-
phase.
13 USING A FULLY CLOSED LOOP SYSTEM
616
13.7 Absolute position detection system