Справочник Пользователя для Mitsubishi Electronics MR-J2S- A
15 - 49
15. 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.
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).
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 (Y39 ON):
ON period of ABS transfer mode (Y31)
ON period of ABS request (Y32)
OFF period of reading to send ABS data (X22)
communication error occurs (Y39 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
Y output contact
X20
ABS bit 0 / positioning completion
Y30
Servo-on
X21
ABS bit 1 / zero speed
Y31
ABS transfer mode
X22
Reading to send ABS data / limiting torque Y32
ABS request
X23
Servo alarm
Y33
Alarm reset
X24
Alarm reset
X34
(Note 2)
Electromagnetic brake output
X25
Servo emergency stop
Y35
(Note 1)
Clear
X26
Servo-on
Y38
Servo alarm
X27
Home position return start
Y39
ABS communication error
X28
Operation mode I
Y3A
ABS checksum error
X29
Operation mode II
D register
M contact
D0
ABS data transmission counter
M5
ABS data transmission start
D1
Checksum transmission counter
M6
Sum check completion
D2
Checksum addition register
M7
Sum check mismatch
D3
ABS data: Lower 16 bits
M8
ABS data ready
D4
ABS data: Upper 16 bits
M9
Transmission data read enabled
D5
ABS data 2-bit receiving buffer
M10
Checksum 2 bits read completion
D6
Check data in case of checksum error
M11
ABS 2 bits read completion
D7
Number of retries
M12
ABS 2 bits request
D8
Forward rotation direction
M13
Servo-on request
D9
Home position address: Lower 16 bits
M14
Servo alarm
D10
Home position address: Upper 16 bits
M15
ABS data transmission retry start pulse
D11
Drive unit ready data
M16
Retry flag set
D12
Home position return completion data
M17
Retry flag reset
D110
Received shift data: Lower 16 bits
M18
PLS processing command
D111
Received shift data: Upper 16 bits
M20
(Note 1)
Clear (CR) ON timer request
T timer
M21
(Note 1)
Data set type home position return request
T0
ABS transmission mode timer
T1
ABS request response timer
M22
Home position return processing
instruction
instruction
T2
Retry wait timer
T3
ABS data send reading response timer
M23
Current position change processing
instruction
instruction
T10
(Note 1)
Clear (CR) ON timer
M24
Current position change flag
T200
Transmitted data read 10ms delay timer
C counter
C0
ABS data receive times counter
C1
Checksum receive times counter
C2
Retry counter
Note 1. Required for data set type home position return.
2. Required for electromagnetic brake output.
3)
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