Absolute Position Data Transfer Protocol; Data Transfer Procedure - Mitsubishi Electric MR-J4 Instruction Manual

12. ABSOLUTE POSITION DETECTION SYSTEM

12.6 Absolute position data transfer protocol

12.6.1 Data transfer procedure

Each time 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 ABSM, turn on SON. When the ABS transfer mode is off,
turning on SON does not switch on the base circuit.
Programmable controller
ON (Servo-on) on
ABSM on
ABST on
ABSR on
ABST off
ABSR off
ABST on
ABSR on
ABST off
ABSR off
ABST on
ABSM off
ABST off
Every time the SON is turned
ON, ABSM is turned ON to set
the data to be transmitted.
Watch dog timer «Current position data»
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.
12 - 10
16 times
3 times