Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual TLC SON Absm Absr

DVP - ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming

API Mnemonic Operands Function Controllers

155

D

ABSR

Absolute position read

ES2/EX2

SS2 SA2 SX2

SE

Type

Bit Devices

Word devices

Program Steps

OP

X

Y

M

S

K

H KnX KnY KnM KnS T

C

D

E

F

DABSR: 13 steps

S

*

*

*

*

D1

*

*

*

D2

*

*

*

*

*

*

*

PULSE

16-bit

32-bit

SA2

SA2

SA2

ES2/EX2 SS2

SE

SX2 ES2/EX2 SS2

SE

SX2 ES2/EX2 SS2 SE

SX2

Operands:

S: Input signal from servo (occupies 3 consecutive devices) D1: Control signal for controlling

servo (occupies 3 consecutive devices) D2: Absolute position data (32-bit) read from servo

Explanations:

1.This instruction reads the absolute position (ABS) of servo drive with absolute position check function, e.g. MITSUBISHI MR-J2.

2.Only 32-bit instruction is applicable for ABSR instruction (DABSR) and it can only be used ONCE in the program.

3.S: input signal from servo. 3 consecutive devices S, S +1, S +2 are occupied. S and S +1 are connected to the ABS (bit0, bit1) of servo for data transmitting. S +2 is connected to servo for indicating transmission data being prepared.

4.D1: control signal for controlling servo. 3 consecutive devices D1, D1+1, D1+2 are occupied. D1 is connected to servo ON (SON) of servo, D1+1 is connected to ABS transmission mode of servo and D1+2 is connected to ABS request.

PLC-DVP32ES200T

+24V
S/S	ABS(bit 0)
X0
	ABS(bit 1)
X1
	Transmission ready
X2
24G
	Servo ON
Y0
	ABS transmission mode
Y1
	ABS request
Y2
C

SERVO AMP

MR-J2-A

CN1B

VDD 3

D01 4

ZSP 19

TLC 6

SG 10

SON 5

ABSM 8

ABSR 9

5.D2: Absolute position data (32-bit) read from servo. 2 consecutive devices D2, D2+1 are occupied. D2 is low word and D2+1 is high word. When DABSR instruction is completed, M1029 will be ON. M1029 has to be reset by users.

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