15 - 8
15. ABSOLUTE POSITION DETECTION SYSTEM
15.7.2 Transfer method
The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the
servo-on (SON) signal going OFF, an emergency stop, or alarm, is explained below. In the absolute
position detection system, every time the servo-on (SON) signal is turned on, the ABS transfer mode
(ABSM) signal should always be turned on to read the current position in the servo amplifier to the
controller. The servo amplifier transmits to the controller the current position latched when the ABS
transfer mode (ABSM) signal swi tches from OFF to ON. At the sam e time, this data is set as a posi tion
command value inside the servo amplifier. Unless the ABS transfer mode signal (A BSM) is turned ON,
the base circuit cannot be turned ON.
(1) At power-on
(a) Timing chart
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
80[ms] 80[ms]
1)
2), 3)
Power
supply
Servo-on
(SON)
4)
ABS transfer mode
(ABSM)
ABS request
(ABSR)
Send data ready
(TLC)
Transmission
(ABS) data
Base circuit
Ready
(RD)
If SON is turned ON before ABSM is input
During transfer of ABS During transfer of ABS
(Note) (Note)
(Note) (Note)
(Note) (Note)
ABS data ABS data
Operation
enabled Operation
enabled
Note: For details, refer to (1) (b) in this section.
D01:bit1
ZSP:bit2