Absolute Position System; Control Details - Mitsubishi Electric MELSEC Q Series User Manual

10 FUNCTION DETAILS

10.21 Absolute position system

10.21.1 Control details

When using the absolute position system function, on starting up, and when the Motion
controller or absolute value motor has been replaced, always perform a home position return.
In the case of the absolute position system, use the PLC program to check the home position
return request before performing the positioning control.
Failure to observe this could lead to an accident such as a collision.
In the absolute position system, if machinery position is determined at the system
startup, there is no need to execute the OPR because the absolute position is
detected at system's power supply ON.
Use the OPR for the determination of machinery position.
POINT
While "OPR request (
system's power supply ON, and the current value is not restored.
Be sure to execute the OPR when the OPR request turned ON in the absolute
position system.
The "OPR request (
Md.9
1) The electronic gear ("
denominator") or the servo parameter "
changed. (First PLC READY ON)
2) "Error code 2025" or "Warning code 2143" occurred. (First PLC READY ON)
3) "Error code 1201" occurred. (First PLC READY ON)
4) The OPR never is executed for the absolute position system. (First PLC READY
ON)
5) Change the servo parameter "
Invalid (Used in incremental system)" to "1: Valid (Used absolute position detection
system)". (First PLC READY ON)
6) The OPR is started.
7) The setting value of software stroke limit is outside the range. (First PLC READY
ON)
POINT
When "0: Invalid (Used in incremental system)" is set in "
detection system" of servo parameter, the "OPR request (
ON at every first PLC READY ON.
Status 1: b0)" in ON, the current value becomes "0" at
Md.9
CAUTION
Status 1: b0)" turns ON in the following cases.
Electronic gear numerator", "
Pr.0
Pr.314
Absolute position detection system" from "0:
Pr.303
10 - 40
MELSEC-Q
Electronic gear
Pr.2
Rotation direction selection" are
Absolute position
Pr.303
Status 1: b0)" turns
Md.9