Read The Absolute Position From A Servo Motor - Delta DVP-PLC Applications Manual

API Mnemonic
155 D ABSR
Type Bit Devices
OP X Y
S * *
D *
1
D
2
Operands:
S: Input signal from Servo (occupies 3 consecutive devices)
consecutive devices)
Explanations:
1. Operand S and D of SA series MPU do not support E, F index register modification.
1
2. See the specifications of each model for their range of use.
3. This instruction can only be used once in the program.
4. Flag: see remarks for more details.
5. This instruction reads the absolute position (ABS) of MITSUBISHI MR-J2 servo drive (with absolute position
check function).
6. S will occupy 3 consecutive devices, S, S +1, and S +2. S and S +1 are connected to the absolute position (bit
0, bit 1) on the servo for data transmitting. S +2 is connected to Servo for transmitting data ready flag. See the
wiring example below for more details.
7. D will occupy 3 consecutive devices, D
1
connected to ABS transmisstion mode of Servo and D
example below for more details.
PLC
DVP32EH00T
+24V
S/S
X0
X1
X2
24G
Y4
Y5
Y6
C4
8. D will occupy 2 consecutive devices D
2
absolute position data should be written into the present value registers (D1337, D1336) of CH0 pulse (Y0, Y1)
or the present value registers (D1339, D1338) of CH1 pulse (Y2, Y3) in EH series MPU; therefore, we suggest
you designate the two corresponding registers. If you designate other devices as the registers, you still have to
9-14
Operands
Read the Absolute Position from a Servo
Motor
M S K H KnX KnY KnM KnS T
* *
* *
ES EX SS SA SX SC EH SV ES EX SS SA SX SC EH SV ES EX SS SA SX SC EH SV
D : Absolute position data (32-bit) read from Servo
2
, D
1 1
CN1B
VDD
ABS(bit 0)
D01
ABS(bit 1)
ZSP
transmission data is ready
TLC
SG
SERVO ON
SON
ABS transmission mode
ABSM
ABS request
ABSR
and D
2
9 Application Instructions API 150-199
Function
Word Devices
C
* * * * *
PULSE
D : Control signal for controlling Servo (occupies 3
1
+ 1, D + 2. D is connected to SERVO On (SON) of Servo. D
1 1
+2 is connected to ABS request signal. See the wiring
1
SERVO AMP
MR-J2-A
3
4
19
6
10
5
8
9
+ 1. D is the lower 16 bits and D
2 2
Controllers
ES/EX/SS SA/SX/SC EH/SV
Program Steps
D E F DABSR: 13 steps
* *
16-bit
+ 1 is the higher 16 bits. The
2
DVP-PLC Application Manual
32-bit
+1 is
1