Absolute Position Data Transfer Protocol; Data Transfer Procedure - Mitsubishi Electric MELSERVO MR-J2S- A Instruction Manual

15. ABSOLUTE POSITION DETECTION SYSTEM

15.7 Absolute position data transfer protocol

15.7.1 Data transfer procedure

Each time the servo-on (SON) is turned ON (when the power is switched ON for example), the
programmable controller reads the position data (present position) of the servo amplifier.
Time-out monitoring is performed by the programmable controller.
Servo amplifier
DI0 allocation change
Transmission data set
Transmission data set
DI0 allocation change
POINT
After switching on the ABS transfer mode (ABSM), turn on the servo-on
signal (SON). When the ABS transfer mode is off, turning on the servo-on
signal (SON) does not switch on the base circuit.
Servo-on (SON) ON
ABS transfer mode ON
Send data ready ON
ABS request ON
Send data ready OFF
ABS request OFF
Send data ready ON
ABS request ON
Send data ready OFF
ABS request OFF
Send data ready ON
ABS transfer mode OFF
TLC (send data ready) OFF
Programmable controller
Watch dog timer
Reading 2 bits
Shift and addition
Watch dog timer
Reading 2 bits
Shift and addition
Setting the current
position
Sum check
15 - 7
Every time the SON is
turned ON, the ABS transfer
mode signal is turned ON
to set the data to be
transmitted.
<Current position data>
The data is read in units of
2 bits; the read data is written
to the lowest bits, and the
register is shifted right until
32-bit data is configured.
<Sum check data>
The data is read in units of
2 bits; the read data is written
to the lowest bits, and the
register is shifted right until
6-bit data is configured.
A sum check is executed
for the received 32-bit data.
After making sure that
there are no errors in the data,
the current position is set.
16 times
3 times