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Absolute position detection system – MITSUBISHI ELECTRIC MELSERVO MR-J2S- A User Manual

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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 (SON) as the trigger.
1) When the servo-on (SON) 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 involves negative coordinate values, which
cannot be handled by the A1SD71, 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 (CR) 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 (CR) 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.