Mitsubishi Electronics MR-J2S- A Absolute position data transfer protocol, SON on

15. ABSOLUTE POSITION DETECTION SYSTEM

15.7 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.

15.7.1 Data transfer procedure

Each time the SON signal 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.

Servo amplifier

DI0 allocation change

Transmission data set

SON ON

ABS transfer mode ON

Send data ready ON

ABS request ON

Send data ready OFF

ABS request OFF

Programmable controller

Watch dog timer

Reading 2 bits

Shift and addition

Every time the SON is turned ON, the ABS transfer mode signal is turned ON to set the data to be transmitted.

<Current position data>

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.

Repeated to configure 32-bit data Start processing

16 times

Transmission data set

DI0 allocation change

Send data ready ON

ABS request ON

Send data ready OFF

ABS request OFF

Send data ready ON

ABS transfer mode OFF

TLC (send data ready) OFF

Watch dog timer

Reading 2 bits

Shift and addition

Setting the current position

Sum check

<Sumcheck data>

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.

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.

End processing Repeated to configure 6-bit data

3 times

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