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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

(c) ABS data transfer program for X axis

This sequence program example assumes the following conditions:

Parameters of the A1SD71-S2 positioning module

1) Unit setting

: 3 pulse (PLS)

2) Travel per pulse : 1 1 pulse

To select the unit other than the pulse, conversion into the unit of the feed command value per
pulse is required. Hence, add the following program to the area marked Note in the sequence
program.

Item

mm

inch

degree

pulse

Unit setting

0

1

2

3

Travel per pulse

0.1 to 1.0 to

10.0

0.00001

to

0.0001

to

0.001

to

0.00001

to

0.0001

to

0.001

to

Unit of travel

m/PLS

inch/PLS

degree/PLS

PLS

D * P K D3 D3

Constant K for

conversion into

unit of travel

1 to

10 to

100

1 to

10 to

100

1 to

10 to

100

None

Reference

For 1 m/PLS, set constant K to 10
For 5 m/PLS, set constant K to 50
When the unit setting is pulse, the additional program is not required.

M9038

K1

K1

K201

H0001

TOP

M9039

X36

D7

K3

MOV

M8

SET

M8

M9

M11

1

1

X36

M3

RST

M8

RST

C0

RST

C1

RST

A0

D100

DMOV

Y40

M0

PLS

A1SD71 error reset

Setting retry count (3 times)

Loading received shift data

Servo-on request

Resetting ready to send

Resetting servo-on request

Resetting ABS transfer
counter at servo OFF

Resetting checksum transfer
counter at servo OFF

Servo-on output

ABS I/F start

(To be continued)

Initial
pulse

ON

PC RUN

Servo-on PB

Servo-on

PB

Servo-on

request

Error

flag

Retry flag

setting

Initial setting

Servo-on control