Mitsubishi Electronics MR-J2S- A instruction manual Transfer method, At power-on, Timing chart

15. ABSOLUTE POSITION DETECTION SYSTEM

15.7.2 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) signal going OFF, an emergency stop, or alarm, is explained below. In the absolute position detection system, every time the servo-on (SON) signal is turned on, the ABS transfer mode (ABSM) signal 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) signal 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 signal (ABSM) is turned ON, the base circuit cannot be turned ON.

(1)At power-on

(a) Timing chart

Power	ON
supply	OFF
	If SON is turned ON before ABSM is input

Servo-on ON

(SON)OFF

4)	ON	2), 3)
ABS transfer mode			During transfer of ABS				During transfer of ABS
(ABSM)	OFF
				(Note)				(Note)
	ON
ABS request
(ABSR)	OFF
				(Note)				(Note)
	ON
Send data ready
(TLC)	OFF
				(Note)				(Note)
Transmission					ABS data				ABS data
(ABS) data
D01:bit1				80[ms]				80[ms]
ZSP:bit2
Base circuit	ON
	OFF
		1)
	ON
Ready
						Operation				Operation
(RD)	OFF					enabled				enabled

Note: For details, refer to (1) (b) in this section.

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