Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Timing diagram of the operation of Dabsr instruction

3. Instruction Set

6.Please use NO contact as the drive contact of DABSR instruction. If the drive contact is OFF during the execution of DABSR, the instruction will be stopped and errors will occur on read data.

7.If the drive contact of DABSR instruction turns OFF after the instruction is completed, the servo ON (SON) signal connected to D1 will also turn OFF and the operation will be disabled.

8.Flags: For the descriptions of M1010, M1029, M1102, M1103, M1334, M1335, M1336, M1337, M1346, please refer to Points to Note.

Program Example:

1.When X7 = ON, the 32-bit absolute position data read from servo will be stored in the registers storing present value of CH0 pulse output (D1348, D1349). At the same time, timer T10 is enabled and starts to count for 5 seconds. If the instruction is not completed within 5 seconds, M10 will be ON, indicating operation errors.

2.When enabling the connection to the system, please synchronize the power input of DVP-PLC and SERVO AMP or activate the power of SERVO AMP earlier than DVP-PLC.

X7

	DABSR	X0	Y4	D1348
M11
	TMR	T0	K50
ABSR
completed
T0		ABS absolute position
	M10
		data read is abnormal
ABSR timeout
M1029			ABS absolute position
	SET	M11
			data read is completed
Execution
completed flag

Points to note:

3.Timing diagram of the operation of DABSR instruction:

Servo ON SON

ABS data	ABSM
transmission mode
Transmission ready	TLC		AMP output
ABS request	ABSR		Controller output
			AMP output
ABS(bit 1)	ZSP
			AMP output
ABS(bit 0)	D01
		Current position data 32-bit
		+ check data 6-bit

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