Mitsubishi Electronics MR-J2S- A instruction manual Y3A

15.ABSOLUTE POSITION DETECTION SYSTEM

(2)Sequence program example

(a)Conditions

1)When the servo-on signal and power supply GND are shorted, the ABS data is transmitted at power-on of the servo amplifier or on 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 an emergency stop is reset.

2)If a checksum mismatch is detected in the transmitted data, data transmission is retried up to three times. If the checksum mismatch still persists after the retries, the ABS checksum error occurs (Y3A ON).

3)The following time periods are measured. If the ON/OFF state does not change within the specified time, the ABS communication error occurs change within the specified time, the ABS communication error occurs (Y3A ON):

ON period of ABS transfer mode (Y31) ON period of ABS request (Y32)

OFF period of reading to send ABS data (X22)

(b)Device list

	X input contact			Y output contact
X20	ABS bit 0 / positioning completion		Y30	Servo-on
X21	ABS bit 1 / zero speed		Y31	ABS transfer mode
X22	Reading to send ABS data / limiting torque		Y32	ABS request
X23	Servo alarm		Y33	Alarm reset
X24	Alarm reset		X34 (Note 2)	Electromagnetic brake output
X25	Servo emergency stop		Y35 (Note 1)	Clear
X26	Servo-on		Y38	Servo alarm
X27	Home position return start	2)	Y39	ABS communication error
X28	Operation mode I		Y3A	ABS checksum error
X29	Operation mode II
1)	D register			M contact
D0	ABS data transmission counter		M5	ABS data transmission start
D1	Checksum transmission counter		M6	Sum check completion
D2	Checksum addition register		M7	Sum check mismatch
D3	ABS data: Lower 16 bits		M8	ABS data ready
D4	ABS data: Upper 16 bits		M9	Transmission data read enabled
D5	ABS data 2-bit receiving buffer		M10	Checksum 2 bits read completion
D6	Check data in case of checksum error 4)		M11	ABS 2 bits read completion
D7	Number of retries		M12	ABS 2 bits request
D8	Forward rotation direction		M13	Servo-on request
D9	Home position address: Lower 16 bits		M14	Servo alarm
D10	Home position address: Upper 16 bits		M15	ABS data transmission retry start pulse
D11	Drive unit ready data		M16	Retry flag set
D12	Home position return completion data		M17	Retry flag reset
D110	Received shift data: Lower 16 bits		M18	PLS processing command
D111	Received shift data: Upper 16 bits		M20 (Note 1)	Clear signal ON timer request
3)	T timer		M21 (Note 1)	Data set type home position return request
T0	ABS transmission mode timer		M22	Home position return processing
T1	ABS request response timer			instruction
T2	Retry wait timer		M23	Current position change processing
T3	ABS data send reading response timer			instruction
T10 (Note 1)	Clear signal ON timer		M24	Current position change flag
T200	Transmitted data read 10ms delay timer			C counter
			C0	ABS data receive times counter
			C1	Checksum receive times counter
			C2	Retry counter

Note: 1.Required for data set type home position return. 2.Required for electromagnetic brake output.

15 - 50