Mitsubishi Melsec-Q QD75P1 User Manual page 589

Programmable logic controller q-series

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14 DEDICATED INSTRUCTIONS

[Program examples]

No. 23 Absolute position restoration program

(1) Absolute position restoration command acceptance

(2) Setting of transmit data to servo-amplifier and confirmation of absolute position restoration completion

ABRST1 instruction completed when M42 is ON and M43 is OFF.

Absolute position data restoration completed when status = 0.

(3) ABS data setting and ABRST1 instruction execution

(6) If the ABRST instruction is executed in either of the following cases, an error

"Dedicated instruction error" (error code: 804) will occur and absolute position

restoration cannot be carried out.

• Any value other than 0 is set to "Status" (device: (S)+4) of the control data.

• The instruction for a non-existent axis is specified.

(Example: The ABRST2 instruction is specified when the QD75P1 is used.)

Program to restore the absolute position of axis 1.

The X47 to X49 and Y50 to Y52 are used for communication with the servo

X47: ABS data bit 0

X48: ABS data bit 1

X49: Transmission data READY flag

Y50: Servo ON signal

Y51: ABS transfer mode

Y52: ABS request flag

<Transmission data preparation

complete flag ON/OFF>

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