Mitsubishi QD75P1N User Manual page 564

12 CONTROL SUB FUNCTIONS
ABRST
S+4 (Status)
Statuses of
D+0 (Complete device)
devices
BUSY signal
Statuses of
Positioning complete
the QD75
signal
Axis operation status
Servo ON
(SON)
ABS transfer
mode (ABSM)
I/O signals ABS request (ABSR)
from/to servo
amplifier
ABS transmission
data ready (ABST)
Transmission (ABS) data
1: Approx. 60ms + scan time
The following drawing shows an operation when data is transferred to the
servo amplifier.
"ABRST
Values other than 0 (the phase numbers of absolute position restoration) is
0
stored after the process starts.
ON for one scan
1)
ON
OFF
ON
OFF
2)
ON
OFF
*1
ON
OFF
3)
ON
OFF
4)
ON
OFF
Fig. 12.39 Signal state during the absolute position detection
1) The BUSY signal is turned ON and the axis operation status is set
to "Analyzing" by the dedicated instruction "ABRST ".
At this time, the signal is controlled to turn OFF the servo amplifier.
The servo is powered OFF in 60ms + scan time.
2) When the servo is turned ON, the ABS transfer mode is
simultaneously turned ON.
After receiving the ABS transfer mode, detecting the absolute
position and calculating the absolute position, the servo amplifier
will turn ON the ABS transmission data ready (ABST) and answer
back to QD75 notifying that the send data is ready.
3) After recognizing that the ABS transmission data ready (ABST)
turned ON, QD75 turns ON the ABS request (ABSR).
" is executed continuously until "S+4" becomes 0.
Analyzing
ABS transmitting
5)
6)
Lower 2bit
12 - 66
MELSEC-Q
0
Standby
7)
Checksum
higher 2bit