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11 USING A DIRECT DRIVE MOTOR
11.6 Absolute position detection system [G] [WG]
Permissible load to motor inertia ratio when the dynamic brake is
used
11.6 Absolute position detection system [G] [WG]
Page 263 ABSOLUTE POSITION DETECTION SYSTEM
• To configure the absolute position detection system by using the direct drive motor manufactured by Mitsubishi Electric,
batteries and the absolute position storage unit (MR-BTAS01) are required.
• Refer to the following for the encoder cable and the absolute position storage unit.
Direct Drive Motor User's Manual
• If the absolute position storage unit (MR-BTAS01) is replaced, the absolute position is erased. In this case, start up the
direct drive motor again and perform homing.
• Replace the battery while the control circuit power is on. If the battery is replaced with the control circuit power supply
turned off, [AL. 025 Absolute position erased] occurs. A battery cannot be replaced using the battery connection cable (MR-
J3BTCBL03M).
• If the encoder cable is disconnected, [AL. 25 Absolute position erased] occurs.
11.7 Absolute position detection system [A]
When the system is used with absolute position detection system by DIO ([Pr. PA03.0 Absolute position detection system
selection] set to "1" (Enabled)) with the following conditions, the initial servo-on after power-on triggers the magnetic pole
detection and [AL. 093 ABS data transfer warning] will occur.
• The magnetic pole detection is enabled at initial servo-on ([Pr. PL01.0 Servo motor magnetic pole detection selection] set to
"1" (Magnetic pole detection at initial servo-on after cycling the power).
• The Z-phase pulse of the direct drive motor manufactured by Mitsubishi Electric has not turned on.
When the magnetic pole detection is performed with the absolute position detection system by DIO, a deviation occurs
between the absolute position data of the servo amplifier side and controller side. If the operation is continued, position
mismatch occurs. Therefore, [AL. 093 ABS data transfer warning] occurs on the servo amplifier side. To cancel [AL. 093 ABS
data transfer warning], cycle SON (Servo-on) or perform homing.
Direct drive motor Permissible load to motor inertia ratio [multiplier]
TM-RFM_C20 100 (300)
TM-RFM_E20
TM-RG2M002C30
TM-RU2M002C30
TM-RFM_G20 50 (300)
TM-RFM_J10 50 (200)
TM-RG2M_E30 20 (80)
TM-RG2M_G30
TM-RU2M_E30
TM-RU2M_G30
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