Mitsubishi QD75P1N User Manual page 621

14 DEDICATED INSTRUCTIONS
[Program examples]
(1) Absolute position restoration command acceptance
788
796
(2) Setting of transmit data to servo-amplifier and confirmation of absolute position restoration completion
ABRST1 instruction completed when M42 is ON and M43 is OFF.
Absolute position data restoration completed when status = 0.
802
(3) ABS data setting and ABRST1 instruction execution
823
(6) If the Z.ABRST instruction is executed in either of the following cases, an error
"Dedicated instruction error" (error code: 804) will occur and absolute position
restoration cannot be carried out.
• Any value other than 0 is set to "Status" (device: (S)+4) of the control data (at
communication start with servo amplifier).
• The instruction for a non-existent axis is specified.
(Example: The Z.ABRST2 instruction is specified when the QD75P1 is used.)
• "Status" (device: (S)+4) of the control data is changed during absolute position
restoration (during communication with servo amplifier).
Program to restore the absolute position of axis 1.
The X47 to X49 and Y50 to Y52 are used for communication with the servo
amplifier.
X47: ABS data bit 0
X48: ABS data bit 1
X49: Transmission data READY flag
Y50: Servo ON signal
Y51: ABS transfer mode
Y52: ABS request flag
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MELSEC-Q
<D42 to D45 reset>
<Error code transmission to D49>
<ABS data bit 0 ON/OFF>
<ABS data bit 1 ON/OFF>
<Transmission data preparation complete
flag ON/OFF>
<ABRST1 instruction execution>