Mitsubishi Electronics MR-J2S- A Differences between A1SD75 AD75 and A1SD71 AD71, Busy, Y1D

15.ABSOLUTE POSITION DETECTION SYSTEM

(4)Differences between A1SD75 (AD75) and A1SD71 (AD71)

The sequence programs shown in (2) of this section differ from those for the A1SD71 (AD71) in the following portions. 1) to 20) in the following sentences indicate the numbers in the programs given in

(2) of this section.

(a)Devices used

Since the A1SD75 (AD75) is a one-slot module which occupies 32 I/O points, the I/O devices are different, as indicated by 1) and 2), from those of the two-slot A1SD71 which occupies 48 point. The A1SD75 (AD75) uses the devices indicated in the following table, and its D registers and M contacts are different as indicated by 3) and 4).

Device name		Devices		Application	Bit device	:Data at ON
	Axis 1	Axis 2	Axis 3		Data register	:Stored data
		X0		AD75 ready	Not ready/ WDT error
Input	X4	X5	X6	BUSY	BUSY(running)
	XA	XB	XC	Error detection	Error detection
	Y10	Y11	Y12	Positioning start	Start being requested
	Y13	Y14	Y1C	Axis stop	Stop being requested
Output	Y16	Y18	Y1A	Forward rotation jog start	Forward rotation being started
	Y17	Y19	Y1B	Reverse rotation jog start	Reverse rotation being started
		Y1D		Programmable controller ready	Programmable controller CPU
					normal
		M0		Parameter setting completion flag	Setting complete
		M1		Flash ROM registration processing	Processing
				flag
internal relay	M2	M3	M4	Axis error reset requesting flag	Requesting
		M100		AD75 normal flag	AD75 normal
		M101		Initial error reset completion flag	Error reset complete
		M102		All BUSY signal OFF flag	All BUSY signal OFF
		M103		AD75 operable flag	Operable
		D100		Flash ROM registration results	Registration results
Data register	D101	D102	D103	Axis error code	Error code
	D104	D105	D106	Axis warning code	Warning code
	D107	D108	D109	Axis error reset results	Axis error reset results

(b)ABS sequence program example

1)Initial setting

To reset the error of the A1SD75, the program 5) is added to reset all output signals at start-up. The axis error reset buffer memory address is changed from 201 to 1154 (axis 1) and the slot number from H0001 (slot number 1) to H0000 (slot number 2) 6).

2)Absolute position polarity, A1SD75 rotation direction setting detection

The slot number and buffer memory of the X-axis rotation direction parameter reading area are changed from [FROMP H0001 K7872 D8 K1] to [FROMP H0000 K5 D8 K1] 8).

The rotation direction parameter masking area is changed from [WAND H0004 D8] to [WAND H0001 D8] 9).

3)Reversing absolute position polarity

The rotation direction judging area is changed from [= D8 K4] to [= D8 K1] 10).

4)Reading checksum 6 bits, reading ABS data 32 bits

The 4 bits reading area is changed from [MOV K1 X30D5] to [MOV K1X20 D5] 11).

5)Restoring absolute position data

The slot number and buffer address of the A1SD75 home position address reading area are changed from [DFROP H0001 K7912 D9 K1] to [DFROP H0000 K72 D9 K1] 12)

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