Справочник Пользователя для Mitsubishi Electronics MR-J2S- A
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15. ABSOLUTE POSITION DETECTION SYSTEM
(4) Differences between A1SD75 and A1SD71
The sequence programs shown in (2) of this section differ from those for the A1SD71 in the following
portions. 1) to 20) in the following sentences indicate the numbers in the programs given in (2) of this
section.
(a) Devices used
portions. 1) to 20) in the following sentences indicate the numbers in the programs given in (2) of this
section.
(a) Devices used
Since the A1SD75 is a one-slot module which occupies 32 I/O points, the I/O devices are different,
as indicated by 1) and 2), from those of the two-slot A1SD71 which occupies 48 point. The A1SD75
uses the devices indicated in the following table, and its D registers and M contacts are different as
indicated by 3) and 4).
as indicated by 1) and 2), from those of the two-slot A1SD71 which occupies 48 point. The A1SD75
uses the devices indicated in the following table, and its D registers and M contacts are different as
indicated by 3) and 4).
Devices
Device name
Axis 1
Axis 2
Axis 3
Application
Bit device
:Data at ON
Data register
:Stored data
X0
A1SD75 ready
Not ready/ WDT error
X4
X5
X6
BUSY
BUSY(running)
Input
XA
XB
XC
Error detection
Error detection
Y10
Y11
Y12
Positioning start
Start being requested
Y13
Y14
Y1C
Axis stop
Stop being requested
Y16
Y18
Y1A
Forward rotation jog start
Forward rotation being started
Y17
Y19
Y1B
Reverse rotation jog start
Reverse rotation being started
Output
Y1D
Programmable controller ready
Programmable controller CPU
normal
normal
M0
Parameter setting completion flag
Setting complete
M1
Flash ROM registration processing
flag
flag
Processing
M2
M3
M4
Axis error reset requesting flag
Requesting
M100
A1SD75 normal flag
A1SD75 normal
M101
Initial error reset completion flag
Error reset complete
M102
All BUSY signal OFF flag
All BUSY signal OFF
internal relay
M103
A1SD75 operable flag
Operable
D100
Flash ROM registration results
Registration results
D101
D102
D103 Axis error code
Error code
D104
D105
D106 Axis warning code
Warning code
Data register
D107
D108
D109 Axis error reset results
Axis error reset results
(b) ABS sequence program example
1) Initial setting
To reset the error of the A1SD75, the program 5) is added to reset all output signals at start-up.
The axis error reset buffer memory address is changed from 201 to 1154 (axis 1) and the slot
number from H0001 (slot number 1) to H0000 (slot number 2) 6).
The axis error reset buffer memory address is changed from 201 to 1154 (axis 1) and the slot
number from H0001 (slot number 1) to H0000 (slot number 2) 6).
2) Absolute position polarity, A1SD75 rotation direction setting detection
The slot number and buffer memory of the X-axis rotation direction parameter reading area are
changed from [FROMP H0001 K7872 D8 K1] to [FROMP H0000 K5 D8 K1] 8).
The rotation direction parameter masking area is changed from [WAND H0004 D8] to [WAND
H0001 D8] 9).
changed from [FROMP H0001 K7872 D8 K1] to [FROMP H0000 K5 D8 K1] 8).
The rotation direction parameter masking area is changed from [WAND H0004 D8] to [WAND
H0001 D8] 9).
3) Reversing absolute position polarity
The rotation direction judging area is changed from [
=
D8 K4] to [
=
D8 K1] 10).
4) Reading checksum 6 bits, reading ABS data 32 bits
The 4 bits reading area is changed from [MOV K1 X30D5] to [MOV K1X20 D5] 11).
5) Restoring absolute position data
The slot number and buffer address of the A1SD75 home position address reading area are
changed from [DFROP H0001 K7912 D9 K1] to [DFROP H0000 K72 D9 K1] 12)
changed from [DFROP H0001 K7912 D9 K1] to [DFROP H0000 K72 D9 K1] 12)