Mitsubishi Electric MELSEC-L02SCPU User Manual page 155

(c) Function
• These instructions perform absolute position restoration of the specified axis via communication with the
servo amplifier using the input device and output device specified by
IPABRST1(P) execution
OFF
command
Axis 1 start instruction in
execution (SM1848)
OFF
Axis 1 BUSY (SM1840)
OFF
Axis 1 positioning complete
(SM1841)
Axis 1 operation status
Standby (0)
(SD1844)
Axis 1 current feed value
(SD1840, SD1841)
• When absolute position restoration starts successfully, the Axis 1 busy (SM1840) turns on. (1))
• The current position data retained by the servo amplifier is read. The read data is stored in the Axis 1
current feed value (SD1840, SD1841).
• When absolute position restoration is complete, the Axis 1 busy (SM1840) turns off and Axis 1 positioning
completion (SM1841) turns on.
• The Axis 1 positioning completion (SM1841) will turn off the next time the applicable axis is started. (2))
• The Axis stop instruction (IPSTOP1) is ignored during absolute position restoration.
• If an error occurs during absolute position restoration, the Axis 1 positioning completion (SM1841) does
not turn on.
The number of steps is basically three.
(d) Error
In the following cases, an operation error occurs. Error flag (SM0) turns on and an error code is stored into
SD0.
• Inapplicable device is specified in
• The positioning function for the target axis is not set to "Use":
(e) Program example
Program that performs absolute position restoration of Axis 1 when M0 turns on
• X20 to X22: Signal loaded from the servo amplifier
• Y30 to Y32: Signal output to the servo amplifier
ON
ON
ON
1)
ON
OFF
Analyzing (11)
or :
S D
CHAPTER 7 POSITIONING FUNCTION
and , respectively.
S D
2)
2)
Standby (0)
Value read from servo amplifier
(Error code: 4101)
(Error code: 4116)
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