Absolute Position Data Transfer Protocol - Mitsubishi Electric MELSERVO-J5 User Manual

Absolute position data transfer protocol

The following shows the data transfer procedure. After switching on ABSM, turn on SON. When ABSM is off, turning on SON
does not switch on the base circuit.
Data transfer procedure
Each time SON is turned on, such as when the power is switched on, the current position data in the servo amplifier is read to
the programmable controllers.
Time-out monitoring is performed on the programmable controllers side.
Servo amplifier
ABSM (ABS transfer mode) on
DIO assignment change
ABST (ABS transmission data ready) on
Transmission data set
ABST (ABS transmission data ready) off
ABST (ABS transmission data ready) on
Transmission data set
ABST (ABS transmission data ready) off
ABST (ABS transmission data ready) on
ABSM (ABS transfer mode) off
DIO assignment change
ABST (ABS transmission data ready) off
Programmable controller
SON (Servo-on) on
ABSR (ABS request) on
ABSR (ABS request) off
ABSR (ABS request) on
ABSR (ABS request) off
Each time SON is turned on,
ABSM is turned on and data
transfer is ready.
Monitoring timer
<Current position data>
The data is read in units of
two bits, and the read data is
Reading 2 bits shifted by two bits to the right
and written as the lowest bits.
This step is repeated until
Shift and add
32-bit data is configured.
<Sum check data>
Monitoring timer The data is read in units of
two bits, and the read data is
shifted by two bits to the right
and written as the lowest bits.
Reading 2 bits
This step is repeated until
6-bit data is configured.
Shift and add
Current position set A sum check is executed for
the received 32-bit data.
After the programmable
Sum check
controller makes sure that
there are no errors in the
transfer data, the current
position is set.
7 ABSOLUTE POSITION DETECTION SYSTEM
7.3 Absolute position detection system by DIO [A]
7
16 times
3 times
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