Mitsubishi Electric MR-J2S-A Instruction Manual page 377

Servo amplifier
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15. ABSOLUTE POSITION DETECTION SYSTEM
4
M11
ABS 2 bits
completion
M10
Checksum 2 bits completion
Y31
X22
C1
ABS transfer
Ready to
Checksum
send ABS
counter
mode
data
M12
ABS 2 bits request
Y32
X22
ABS request Ready to send ABS data
Y32
X22
T200
ABS
Ready to send
10ms delay timer
request
ABS data
M6
Checksum
OK
(Note 1)
7)
M6
M24
Checksum
Change
OK
flag
Y10
X1
X4
Positioning
Start com-
BUSY
start
pletion
XA
Error detection
5
Note 1. When the unit setting parameter value of the A1SD75 positioning module is changed from "3" (pulse) to "0" (mm), the unit is
0.1 m for the input value. To set the unit to 1 m, add this program to multiple the feed value by 10.
2. The home position address loaded from flash ROM of normal positioning module can be obtained.
For updating the home position address by the home position setting, refer to (2)(f) Data set type home position return in this
section.
(Continued from preceding page)
RST
Y32
PLS
M12
SET
Y32
K1
T200
M9
DFROP
H0000
K0072
D9
K1
D*P
K
D3
D3
D P
D3
D9
D3
SET
M8
DTOP
H0000
K1154
D3
K1
TO
H0000
K1150
K9003
K1
SET
Y10
RST
Y10
(To be continued)
15 - 56
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4
ABS request reset
ABS 2 bits request
ABS request set
10ms delay timer
Transmitted data read enabled
12)
*1: Reading A1SD75 home
position address (Note 2)
Inserting constant K for conversion
into the unit of feed per pulse
Adding home position address
to absolute position
13)
ABS data ready
14)
*1: Changing X-axis current
position
*1: Writing No. 9003 data for
changing current value
Positioning start
Switching start signal off on
completion of positioning
15)
5
ABS request
control
Restoring absolute
position data.
Writing absolute
position data to
A1SD75

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