Absolute Position Data Transfer Protocol; Data Transfer Procedure - Mitsubishi Electric Melservo MR-J3-A Instruction Manual

14. ABSOLUTE POSITION DETECTION SYSTEM

14.7 Absolute position data transfer protocol

14.7.1 Data transfer procedure

Each time the servo-on (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
ABS transmission data ready ON
Transmission data set
ABS transmission data ready OFF
ABS transmission data ready ON
Transmission data set
ABS transmission data ready OFF
ABS transmission data ready ON
TLC (ABS transmission data
DI0 allocation change
ready) OFF
POINT
After switching on the ABS transfer mode (ABSM), turn on the servo-on signal
(SON). When the ABS transfer mode is off, turning on the servo-on signal (SON)
does not switch on the base circuit.
Servo-on (SON) ON
ABS transfer mode ON
ABS request ON
ABS request OFF
ABS request ON
ABS request OFF
ABS transfer mode OFF
Programmable controller
Watch dog timer
Reading 2 bits
Shift and addition
Watch dog timer
Reading 2 bits
Shift and addition
Setting the current
position
Sum check
14 - 7
Every time the SON is
turned ON, the ABS transfer
mode signal is turned ON
to set the data to be
transmitted.
<Current position data>
The data is read in units of
2 bits; the read data is written
to the lowest bits, and the
register is shifted right until
32-bit data is configured.
<Sum check data>
The data is read in units of
2 bits; the read data is written
to the lowest bits, and the
register is shifted right until
6-bit data is configured.
A sum check is executed
for the received 32-bit data.
After making sure that
there are no errors in the data,
the current position is set.
16 times
3 times