Mitsumi electronic MR-J3- A Manual De Usuario
14 - 10
14. ABSOLUTE POSITION DETECTION SYSTEM
14.9 Absolute position data transfer protocol
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.
does not switch on the base circuit.
14.9.1 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.
controller reads the position data (present position) of the servo amplifier.
Time-out monitoring is performed by the programmable controller.
Servo-on (SON) ON
Servo amplifier
Programmable controller
ABS transfer mode ON
ABS transmission data ready ON
ABS request ON
ABS transmission data ready OFF
ABS request OFF
ABS transmission data ready ON
ABS request ON
ABS transmission data ready OFF
ABS request OFF
ABS transmission data ready ON
ABS transfer mode OFF
TLC (ABS transmission data
ready) OFF
ready) OFF
DI0 allocation change
Transmission data set
Transmission data set
DI0 allocation change
Watch dog timer
Reading 2 bits
Shift and addition
Watch dog timer
Reading 2 bits
Shift and addition
Setting the current
position
position
Sum check
Every time the SON is
turned ON, the ABS transfer
mode signal is turned ON
to set the data to be
transmitted.
turned ON, the ABS transfer
mode signal is turned ON
to set the data to be
transmitted.
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.
2 bits; the read data is written
to the lowest bits, and the
register is shifted right until
32-bit data is configured.
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.
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.
for the received 32-bit data.
After making sure that
there are no errors in the data,
the current position is set.
Start proce
ssin
g
Re
peat
ed
to
conf
ig
ure
32
-bit
d
a
ta
Repeat
e
d t
o
config
ur
e
6
-bit
da
ta
End
proce
ssin
g
16 times
3 times
<Current position data>
<Sum check data>