Mitsubishi Electric Melservo MR-J3-A Instruction Manual page 433

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) An ABS checksum error is caused (Y3AON) if checksum inconsistency is found in transferred data.
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
X input contact
X20 ABS transmission data bit 0/Positioning completion Y30
X21 ABS transmission data bit 1/zero speed
X22 ABS transmission data ready/Torque limiting
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 Number of retries
D9 Home position address: Lower 16 bits
D10 Home position address: Upper 16 bits
D100 to D104 For special absolute value restoration instruction
T0 Retry wait timer
T10 Clear (CR) ON timer
(Note 1)
Note 1. Required for data set type home position return.
2. Required for electromagnetic brake output.
D register
T timer
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
M0 End of error reset
M10 Preparation completion
M11 Servo-on request
M12 Absolute position restoration command
M13 Absolute value restoration memory
M14 Error flag output
M15 Sum check NG
M16 Retry flag
M17 Retry flag reset request
M20 Clear (CR) ON timer request
(Note 1)
M21 Data set type home position return request
(Note 1)
M100 to M101 For special absolute value restoration instruction
C0 Retry counter
14 - 48
Y output contact
M contact
C counter