Mitsubishi Electric Melservo MR-J3-A Instruction Manual page 420

14. ABSOLUTE POSITION DETECTION SYSTEM
(2) Sequence program example
(a) Conditions
1) When the servo-on signal and power supply GND are shorted, the ABS data is transmitted at power-
on of the servo amplifier or on the leading edge of the RUN signal after a PC reset operation (PC-
RESET). The ABS data is also transmitted when an alarm is reset or when an emergency stop is
reset.
2) If a checksum mismatch is detected in the transmitted data, data transmission is retried up to three
times. If the checksum mismatch still persists after the retries, the ABS checksum error occurs (Y3A
ON).
3) The following time periods are measured. If the ON/OFF state does not change within the specified
time, the ABS communication error occurs change within the specified time, the ABS communication
error occurs (Y3A ON):
ON period of ABS transfer mode (Y31)
ON period of ABS request (Y32)
OFF period of reading to send ABS data (X22)
(b) Device list
X20 ABS Transmission data bit 0 / positioning
completion
X21 ABS Transmission data bit 1 / zero speed
X22 Reading to send ABS data / limiting torque
X23 Servo alarm
X24 Alarm reset
X25 Servo emergency stop
X26 Servo-on
X27 Home position return start
X28 Operation mode I
X29 Operation mode II
D0 ABS data transmission counter
D1 Checksum transmission counter
D2 Checksum addition register
D3 ABS data: Lower 16 bits
D4 ABS data: Upper 16 bits
D5 ABS data 2-bit receiving buffer
D6 Check data in case of checksum error
D7 Number of retries
D8 Forward rotation direction
D9 Home position address: Lower 16 bits
D10 Home position address: Upper 16 bits
D11 Drive unit ready data
D12 Home position return completion data
D110 Received shift data: Lower 16 bits
D111 Received shift data: Upper 16 bits
T0 ABS transmission mode timer
T1 ABS request response timer
T2 Retry wait timer
T3 ABS data send reading response timer
T10 Clear (CR) ON timer
(Note 1)
T200 Transmitted data read 10ms delay timer
Note 1. Required for data set type home position return.
2. Required for electromagnetic brake output.
X input contact
D register
T timer
Y output contact
Y30 Servo-on
Y31 ABS transfer mode
Y32 ABS request
Y33 Alarm reset
X34 Electromagnetic brake output
(Note 2)
Y35 Clear
(Note 1)
Y38 Servo alarm
Y39 ABS communication error
Y3A ABS checksum error
M5 ABS data transmission start
M6 Sum check completion
M7 Sum check mismatch
M8 ABS data ready
M9 Transmission data read enabled
M10 Checksum 2 bits read completion
M11 ABS 2 bits read completion
M12 ABS 2 bits request
M13 Servo-on request
M14 Servo alarm
M15 ABS data transmission retry start pulse
M16 Retry flag set
M17 Retry flag reset
M18 PLS processing command
M20 Clear (CR) ON timer request
(Note 1)
M21 Data set type home position return request
(Note 1)
M22 Home position return processing instruction
M23 Current position change processing
instruction
M24 Current position change flag
C0 ABS data receive times counter
C1 Checksum receive times counter
C2 Retry counter
14 - 35
M contact
C counter