Absolute Position System - Mitsubishi Electric MELSEC iQ-R Series User Manual

8.6
The Motion module can construct an absolute position system.
The following describes precautions when constructing the absolute position system.
The configuration of the absolute position system is shown below.
• Position command
• Control command
• Servo parameter
CPU
module
• Monitor data
*1 Depending on the servo amplifier used, it may be necessary to install a battery for retaining the location of the home position return in
the servo amplifier.
Setting for absolute positions
For constructing an absolute position system, use a servo amplifier and a servo motor which enable absolute position
detection.
• Setting of MR-J5(W)-G
Select "1: Enabled (absolute position detection system)" in "Absolute position detection system (PA03.0)". In addition, select
"0: Invalid" in the servo parameter "Absolute position counter warning (AL.0E3) selection (PC29.5)".
To connect the MR-J5(W)-G, set "Electrical gear numerator (PA06)" and "Electrical gear denominator (PA07)" so that their
ratio becomes 1:16.
Precautions
• When "degree" is used for the setting unit, the absolute position system can be established in infinite feed.
• When a unit other than "degree" is used for the setting unit, infinite feed is not possible when using the absolute position
system.
• At the first connection with the servo amplifier in the absolute position system, a warning "Home position return data
incorrect" (warning code: 0D3CH) occurs and the home position return request turns ON if any of the following conditions is
met.
• The backup data in the unit is broken.
• The rotation direction setting of the servo amplifier is different from that in the backup data.
• The backup was performed while the home position return request was ON.
• Absolute position loss occurred on the servo amplifier side.
• HomeOffset is different from that in the backup data.
• The encoder resolution is different from that in the backup data.
• The servo amplifier model is different from that in the backup data.
• The movement amount removed with the electronic gear of the servo amplifier cannot be restored.
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Absolute Position System

• Position command
• Control command
Motion
• Servo parameter
module
Home
position
address
Restoration of the current value
search engine
Battery *1
Servo amplifier
• Monitor data
Servo motor
Motor
M
Back up
Encoder
8 CONTROL SUB FUNCTIONS
8.6 Absolute Position System
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