Mitsubishi Electronics MR-J2S- A Detailed description of absolute position data transfer, Son Off

15. ABSOLUTE POSITION DETECTION SYSTEM

(b) Detailed description of absolute position data transfer

Servo-on	ON
(programmable
controller)	OFF
Servo-on	ON
(SON)	OFF		(Note)
	ON	1)				7)
ABS transfer mode
					During transfer of ABS
(ABSM)	OFF
			3)	5)
	ON
ABS request
(ABSR)	OFF
		2)	4)	6)
	ON
Send data ready
(TLC)	OFF
Transmission (ABS) data				Lower			Check sum
				2 bits			Upper 2 bits

Note: If the servo-on (SON) signal is not turned ON within 1 second after the ABS transfer mode signal (ABSM) is turned ON, an SON time-out warning (AL.EA) occurs. This warning, however, does not interrupt data transmission. It is automatically cleared when the servo-on (SON) signal is turned ON.

1)The programmable controller turns ON the ABS transfer mode signal (ABSM) and servo-on (SON) signals at the leading edge of the internal servo-on signal.

2)In response to the ABS transfer mode signal, the servo detects and calculates the absolute position and turns ON the send data ready (TLC) signal to notify the programmable controller that the servo is ready for data transmission.

3)After acknowledging that the ready to send (TLC) signal has been turned ON, the programmable controller turns ABS request (ABSR) ON.

4)In response to ABS request (ABSR), the servo outputs the lower 2 bits of the ABS data and the ready to send (TLC) signal in the OFF state.

5)After acknowledging that the ready to send (TLC) signal has been turned OFF, which implies that 2 bits of the ABS data have been transmitted, the programmable controller reads the lower 2 bits of the ABS data and then turns OFF the ABS request (ABSR).

6)The servo turns ON the ready to send (TLC) so that it can respond to the next request. Steps 3) to 6) are repeated until 32-bit data and the 6-bit check sum have been transmitted.

7)After receiving of the check sum, the programmable controller turns the ABS transfer mode signal (ABSM) OFF.

If the ABS transfer mode signal (ABSM) is turned OFF during data transmission, the ABS transfer mode is interrupted.

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