Mitsubishi Electronics MR-MC210 ユーザーズマニュアル
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6. APPLICATION FUNCTIONS
(3) Cautions for use of absolute position detection system
In the case of the following (a) to (f), the absolute position erased signal (ABSE) is turned on and the
absolute position data of the home position return option 2 (parameter No.0241) is changed to 0 (invalid).
Furthermore, the servo is not yet finished with home position return, and the home position return request
(ZREQ) turns on. Therefore when performing automatic operation, execute home position return again. (In
cases other than (a))
absolute position data of the home position return option 2 (parameter No.0241) is changed to 0 (invalid).
Furthermore, the servo is not yet finished with home position return, and the home position return request
(ZREQ) turns on. Therefore when performing automatic operation, execute home position return again. (In
cases other than (a))
POINT
If the absolute position erased signal (ABSE) is turned on, re-execute home
position return and read the home position multiple revolution data and home
position within one-revolution position.
position within one-revolution position.
(a) When parameters related to the home position return (parameter No.0240, 0246 to 0249, and 024D to
024F), electronic gear (parameter No.020A to 020D), and rotation direction selection (parameter
No.110D) are changed. (For software version A5 or later, absolute position erased signal (ABSE) does
not turn ON when parameter No.0240 is changed.)
No.110D) are changed. (For software version A5 or later, absolute position erased signal (ABSE) does
not turn ON when parameter No.0240 is changed.)
(b) If "absolute position erased " (servo alarm 25) or "absolute position counter warning" (servo alarm E3)
occurs, note that these alarms will be cleared by servo amplifier power OFF/ON.
(c) Parameter error (servo alarm 37) occurs.
(d) The setting value for "home position multiple revolution data" (parameter No.024D) or "home position
within 1 revolution position" (parameter No.024E, 024F) is incorrect and overflow in calculating absolute
position restoration occurs.
position restoration occurs.
(e) "Tandem drive synchronous valid width error" (operation alarm No. 54, detail 01) or "Tandem drive
synchronous alignment error" (operation alarm 58, detail 01) occurs.
(f) Electronic gear setting error (system error E500) occurs. This error causes a forced stop status to
prevent operation. Reexamine the setting of an electronic gear and start the system again.
POINT
The position after startup (restoration of absolute position) is determined using the following.
Restoration absolute position (pulse) (within 1 revolution position at system startup
home position within 1 revolution position)
(multiple revolution data at system startup
home position multiple revolution data)
number of encoder pulses per revolution
number of encoder pulses per revolution
Restoration absolute position (command unit) restoration absolute position (pulse)
reciprocal of number of electronic gears (Note)
home position coordinate
Note. reciprocal of number of electronic gears electronic gear denominator (CDV)/electronic gear numerator (CMX)