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Mitsumi electronic MR-J3- A Manual De Usuario

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14 -  11 
14. ABSOLUTE POSITION DETECTION SYSTEM 
 
14.9.2 Transfer method 
The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the servo-on 
(SON) going OFF, an emergency stop (EMG), or alarm (ALM), is explained below. In the absolute position 
detection system, every time the servo-on (SON) is turned on, the ABS transfer mode (ABSM) should always 
be turned on to read the current position in the servo amplifier to the controller. The servo amplifier transmits to 
the controller the current position latched when the ABS transfer mode (ABSM) switches from OFF to ON. At 
the same time, this data is set as a position command value inside the servo amplifier. Unless the ABS transfer 
mode (ABSM) is turned ON, the base circuit cannot be turned ON. 
 
(1) At power-on 
(a) Timing chart 
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
95[ms]
95[ms]
1)
2), 3)
Power
supply
Servo-on
(SON)
4)
ABS transfer mode
(ABSM)
ABS request
(ABSR)
ABS transmission 
data ready 
(ABST)
Transmission
(ABS) data
Base circuit
Ready
(RD)
If SON is turned ON before ABSM is input
During transfer of ABS
During transfer of ABS
(Note)
(Note)
(Note)
(Note)
(Note)
(Note)
ABS data
ABS data
Operation
enabled
Operation
enabled
ABSB0:bit1
ABSB1:bit2
 
Note. For details, refer to (1) (b) of this section.