Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 1769

Processing details
• The positioning data is read from the servo amplifier corresponding to the absolute position along the following target axis,
and the value with the unit converted is stored in the "Current read value" and "Machine feed value" areas in the positioning
module. For the absolute position detection system, restore the absolute position once when it is powered on or the CPU
module is reset.
Instruction symbol
G.ABRST1, Z.ABRST1
G.ABRST2, Z.ABRST2
G.ABRST3, Z.ABRST3
G.ABRST4, Z.ABRST4
• The following figure shows how the ABRST instruction operates.
Servo amplifier
• For communication with the servo amplifier corresponding to the absolute position (data read/write), the I/O module is
used. To use the ABRST instruction, prepare I/O modules having the following number of points to communicate with
servo amplifier per axis.
• Input: 3 points
• Output: 3 points
• The execution of the ABRST instruction and whether it has been completed normally or with an error can be checked with
the completion device (d) or completion status indication device (d)+1.
• Completion device (d)
This device turns on during the END processing of the scan where the ABRST instruction completed, and turns off during the next END processing.
• Completion status indication device (d)+1
This device turns on or off depending on the completion status of the ABRST instruction.
When completed normally: Unchanged from off.
When completed with an error: Turns on during the END processing of the scan where the ABRST instruction completed, and turns off during the next END
processing (the same on/off operation as the completion device is performed).
Input module
(s)+0
(s)+1
(s)+2
(s)+3
Output module
(s)+4
(s)+5
·
(s)+7
Target axis
Axis 1
Axis 2
Axis 3
Axis 4
CPU module Positioning module
Control data
Current feed value
Machine feed value
Current value data
ABRST
22 POSITIONING INSTRUCTIONS
22.1 Restoring the Absolute Position
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