Mitsubishi Electronics QD75P, QD75D user manual Errors, Precautions

14 DEDICATED INSTRUCTIONS

MELSEC-Q

(4)Using the ABRST instruction, the absolute position restoration is carried out in the following procedure.

Start

Output the ((S)+3) data.

Set the data in ((S)+2).

Execute the ABRST instruction.

. . . . . Output. . . . the servo ON, ABS transfer mode, and ABS request flag to the output module using the sequence program.

. . . . . Set. . the. . ABS data bit 0/bit 1 and transmission data READY flag using the sequence program.

Other than "0"

Is ((S)+4) "0"?

0

End

[Errors]

(1)When a dedicated instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1). Check and take a measure against the error referring to Section 15.2 "List of error codes".

[Precautions]

(1)After the absolute position detection system is configured, the absolute position restoration must be carried out at least once after the power is turned ON or reset. Unless the absolute position restoration of the QD75 is completed, the servo amplifier will not be turned ON.

(2)Execute absolute position restoration when the PLC READY signal [Y0] is OFF.

(3)The restoration of the absolute position (ABRST instruction execution) can also be carried out when the servo amplifier is turned ON. If this is carried out, however, the servo ON signal is turned OFF for about 20 ms (servo OFF) and the motor may move.

When carrying out the absolute position restoration during servo OFF, install an electromagnetic brake and output the ABRST instruction to that brake during the ABRST instruction execution.

(4)The following dedicated instructions cannot be executed simultaneously for the same axis.

(Can be executed simultaneously for different axes.)

•Positioning start instructions (PSTRT1 to PSTRT4)

•Absolute position restoration instructions (ABRST1 to ABRST4)

•Teaching instructions (TEACH1 to TEACH4)

(5)When the remote I/O station (Q Corresponding MELSECNET/H network remote I/O module) is used, the dedicated instruction (ABRST) is unusable.

(For the sequence program example for use when the dedicated instruction is not used, refer to the Mitsubishi General-Purpose AC Servo "Absolute Position Detection System" Installation Guide.)

: For details of the remote I/O station, refer to Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O Network).

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