Absolute Position Data Transfer Protocol; Data Transfer Procedure - Mitsubishi Electric 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
ABS transfer mode ON
DI0 allocation change
Transmission data set
Transmission data set
ABS transfer mode OFF
DI0 allocation change
TLC (send data ready) OFF
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.
Programmable controller
Servo-on (SON) 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
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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>
Watch dog timer
The data is read in units of
2 bits; the read data is written
to the lowest bits, and the
Reading 2 bits
register is shifted right until
32-bit data is configured.
Shift and addition
<Sum check data>
The data is read in units of
Watch dog timer
2 bits; the read data is written
to the lowest bits, and the
register is shifted right until
Reading 2 bits
6-bit data is configured.
Shift and addition
Setting the current
A sum check is executed
position
for the received 32-bit data.
After making sure that
Sum check
there are no errors in the data,
the current position is set.
15 - 7
16 times
3 times