Mitsubishi Electric MR-J2S-A Instruction Manual page 348

15. ABSOLUTE POSITION DETECTION SYSTEM
(3) Sequence program example
(a) Conditions
This sample program is an ABS sequence program example for a single axis (X axis).
To transmit the ABS data using the OFF-to-ON change of the servo-on (SON) as the trigger.
1) When the servo-on (SON) and the GND of the power supply are shorted, the ABS data is
transmitted when the power to the servo amplifier power is turned ON, or at the leading edge of
the RUN signal after a PC reset operation (PC-RESET). The ABS data is also transmitted when
an alarm is reset, or when the emergency stop state is reset.
2) If a checksum discrepancy is detected in the transmitted data, ABS data transmission is retried
up to three times. If the checksum discrepancy is still detected after retrying, the ABS checksum
error is generated (Y4A ON).
3) The following time periods are measured and if the ON/OFF state does not change within the
specified time, the ABS communication error is generated (Y4A ON).
ON period of ABS transfer mode (Y41)
ON period of ABS request (Y42)
OFF period of ready to send ABS data (X32).
4) If the relationship between the polarity ( ) of the received ABS data and the setting value for
parameter No. 14 (rotating direction) of A1SD71 involves negative coordinate values, which
cannot be handled by the A1SD71, the ABS coordinate error is generated (Y4B ON).
(b) Device list
X input contact
X30 ABS bit 0 / completion of positioning
X31 ABS bit 1 / zero speed
X32 Send ABS data ready / torque limit control
X33 Servo alarm
X34 Error reset
X35 Servo emergency stop
X36 Servo-on
X37 Home position return start
X38 Operation mode I
X39 Operation mode II
D0 ABS data transmission counter
D1 Checksum transmission counter
D2 Checksum addition counter
D3 ABS data: Lower 16 bits
D4 ABS data: Upper 16 bits
D5 ABS data 2-bit receiving buffer
D6 Check data in case of checksum error
D7 Retry frequency
D8 Forward rotation direction
D9 Home position address: Lower 16 bits
D10 Home position address: Upper 16 bits
D100 Received shift data: Lower 16 bits
D101 Received shift data: Upper 16 bits
T0 ABS transfer mode timer
T1 ABS request response timer
T2 Retry wait timer
T3 Ready to send response timer
T10 Clear (CR) ON timer
(Note 1)
T200 Transmitted data read 10ms delay timer
Note 1. Necessary when data set type home position return is executed.
2. Necessary in the event of electromagnetic brake output.
D register
T timer
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Y output contact
Y40 Servo-on
Y41 ABS transfer mode
Y42 ABS request
Y43 Alarm reset
X44 Electromagnetic brake output
(Note 2)
Y45 Clear
(Note 1)
Y48 Servo alarm
Y49 ABS communication error
Y4A ABS checksum error
Y4B ABS coordinate error
M contact
M0 ABS data transmission start
M1 Sum check completion
M2 Sum check discrepancy
M3 ABS data ready
M4 Transmission data read enabled
M5 Checksum 2 bits read completion
M6 ABS 2 bits read completion
M7 ABS 2 bits request
M8 Servo-on request
M9 Servo alarm
M10 ABS data transmission retry start pulse
M11 Retry flag setting
M12 Retry flag reset
M13 PLS processing command
M20 Clear (CR) ON timer request
(Note 1)
M21 Data set type home position return request
(Note 2)
C counter
C0 ABS data receive frequency counter
C1 Checksum receive frequency counter
C2 Retry counter