Mitsubishi Electronics MR-J2S- A instruction manual Sequence program example, Y4B

15.ABSOLUTE POSITION DETECTION SYSTEM

(3)Sequence program example

(a)Conditions

This sample program is an ABS sequence program example for a single axis (X axis).

To transmit the ABS data using the OFF-to-ON change of the servo-on signal as the trigger.

1)When the servo-ON signal and the GND of the power supply are shorted, the ABS data is transmitted when the power to the servo amplifier power is turned ON, or at the leading edge of the RUN signal after a PC reset operation (PC-RESET). The ABS data is also transmitted when an alarm is reset, or when the emergency stop state is reset.

2)If a check sum discrepancy is detected in the transmitted data, ABS data transmission is retried up to three times. If the check sum discrepancy is still detected after retrying, the ABS check sum error is generated (Y4A ON).

3)The following time periods are measured and if the ON/OFF state does not change within the specified time, the ABS communication error is generated (Y4A ON).

ON period of ABS transfer mode (Y41) ON period of ABS request (Y42)

OFF period of ready to send ABS data (X32).

4)If the relationship between the polarity () of the received ABS data and the setting value for parameter No. 14 (rotating direction) of A1SD71 (AD71) involves negative coordinate values, which cannot be handled by the A1SD71 (AD71), the ABS coordinate error is generated (Y4B ON).

(b)Device list

	X input contact		Y output contact
X30	ABS bit 0 / completion of positioning	Y40	Servo-on
X31	ABS bit 1 / zero speed	Y41	ABS transfer mode
X32	Send ABS data ready / torque limit control	Y42	ABS request
X33	Servo alarm	Y43	Alarm reset
X34	Error reset	X44 (Note 2)	Electromagnetic brake output
X35	Servo emergency stop	Y45 (Note 1)	Clear
X36	Servo-on	Y48	Servo alarm
X37	Home position return start	Y49	ABS communication error
X38	Operation mode I	Y4A	ABS check sum error
X39	Operation mode II	Y4B	ABS coordinate error
	D register		M contact
D0	ABS data transmission counter	M0	ABS data transmission start
D1	Check sum transmission counter	M1	Sum check completion
D2	Check sum addition counter	M2	Sum check discrepancy
D3	ABS data: Lower 16 bits	M3	ABS data ready
D4	ABS data: Upper 16 bits	M4	Transmission data read enabled
D5	ABS data 2-bit receiving buffer	M5	Check sum 2 bits read completion
D6	Check data in case of check sum error	M6	ABS 2 bits read completion
D7	Retry frequency	M7	ABS 2 bits request
D8	Forward rotation direction	M8	Servo-on request
D9	Home position address: Lower 16 bits	M9	Servo alarm
D10	Home position address: Upper 16 bits	M10	ABS data transmission retry start pulse
D100	Received shift data: Lower 16 bits	M11	Retry flag setting
D101	Received shift data: Upper 16 bits	M12	Retry flag reset
	T timer	M13	PLS processing command
T0	ABS transfer mode timer	M20 (Note 1)	Clear signal ON timer request
T1	ABS request response timer	M21 (Note 2)	Data set type home position return request
T2	Retry wait timer		C counter
T3	Ready to send response timer	C0	ABS data receive frequency counter
T10 (Note 1)	Clear signal ON timer	C1	Check sum receive frequency counter
T200	Transmitted data read 10ms delay timer	C2	Retry counter

Note 1: Necessary when data set type home position return is executed. 2: Necessary in the event of electromagnetic brake output.

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