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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

(b) Device list

X input contact

Y output contact

X0

ABS bit 0 / completion of positioning

Y0

Servo-on

X1

ABS bit 1 / zero speed

Y1

ABS transfer mode

X2

Send ABS data ready/ torque limit control

Y2

ABS request

X3

Servo alarm

Y3

Alarm reset

X4

Alarm reset PB

Y4

(Note 2)

Electromagnetic brake output

X5

Servo emergency stop

Y5

(Note 1)

Clear

X6

Servo-on PB

Y10

Servo alarm

X7

Servo ready

Y11

ABS communication error

X10

JOG ( ) PB

Y12

ABS check sum error

X11

JOG (

) PB

X12

Position start PB

X13

Position stop PB

X14

Home position return start PB

X15

1PG error reset

D register

M contact

D0

ABS data: Lower 16 bits

M0

Error flag

D1

ABS data: Upper 16 bits

M1

ABS data transmission start

D2

Check sum addition counter

M2

Retry command

D3

Check data in case of check sum error

M3

ABS data read

D4

Transmission retry count in check sum
discrepancy

M4

Spare

D24

Home position address: Lower 16 bits

M5

Servo-on request

D25

Home position address: Upper 16 bits

M6

Retry flag

D106
D107

1PG present position address: Lower 16 bits
1PG present position address: Upper 16 bits

M10
M11
M12
M13

ABS data 2 bit receiving buffer

M20

M51

ABS data 32 bit buffer

M52

M57

Check sum 6 bit buffer

M58
M59

For checksum comparison

T timer

M62

Sum check discrepancy (greater)

T200

Retry wait timer

M63

Sum check discrepancy

T201

ABS transfer mode timer

M64

Sum check discrepancy (less)

T202
T203
T204
T210

(Note 1)

ABS request response timer
Ready to send response timer
ABS data waiting timer
Clear (CR) ON timer

M70

(Note 1)

M71

(Note 1)

M99

Clear (CR) ON timer request
Data set type home position return request
ABS data ready

C counter

C0

All data reception frequency counter (19 times)

C1

Check sum reception frequency counter

C2

ABS data reception frequency counter (16 times)

Note 1. Necessary when data set type home position return is executed.

2. Necessary in the event of electromagnetic brake output.