882
16 POSITIONING INSTRUCTION
16.2 Positioning Module
• The following figure shows the operation at completion of the G.ABRST
instruction.
• Completion of absolute position restoration can be checked with the (s)+4 status.
• The G.ABRST
instruction performs absolute position restoration by following procedure.
1.
Output data from ((s)+3).
Servo on, ABS transfer mode, and ABS request flag are output by using the program.
2.
Set data in ((s)+2).
ABS data bit 0/bit 1 and the send data ready flag are set using the program.
3.
Execute the G.ABRST
instruction.
4.
Check whether the value in ((s)+4) is 0 or not.
When the value is other than 0, the processing returns to step 1.
When the value is 0, the processing ends.
• For details of the function, refer to
MELSEC iQ-F FX5 User's Manual (Positioning Control - Intelligent function module).
Precautions
• If the absolute position detection system has been constructed, absolute position restoration must be performed once after
the power is turned on or reset. The servo does not turn on until the absolute position restoration completes.
• Absolute position restoration must be performed while the [Cd.190] PLC READY signal is off. While [Cd.190] PLC READY
signal is ON, if the G.ABRST
instruction is executed, "Dedicated instruction error (Error code: 1870H)" occurs in the
positioning module and absolute position restoration cannot be executed.
• The absolute position can be restored (the G.ABRST
instruction can be executed) while a servo amplifier is operable.
Note that when the absolute position is restored, the Servo on signal may turn off (servo off) for the period of the scan time
plus approximately 60 ms and the motor may move. To restore the absolute position during the servo off state, install an
electromagnetic brake separately so that signals are output to the electromagnetic brake while the G.ABRST
instruction
is being executed.
• The following instructions cannot be executed simultaneously to a single axis. For different axes, any of the following can
be executed concurrently with a G.ABRST
instruction.
• If this instruction is executed in an interrupt program with the priority 1, operation error (3580H) occurs. This instruction
operates in an interrupt program with the priority 2 or 3.
Operation error
• Positioning start instruction (GP.PSTRT
)
• Absolute position restoration instruction (G.ABRST
)
• Teaching instruction (GP.TEACH
)
Error code
((s)+1)
Description
1860H
A value other than 0 was set in "Status" of (s)+4 (at start of communication with the servo amplifier).
1861H
"Status" of (s)+4 was changed during absolute position restoration (i.e. during communication with the servo amplifier).
1865H
An instruction was specified for an undefined axis.
END
0
END
0
END
0
END
0
END
0
OFF
OFF
OFF
OFF
ON
ON
Sequence scan
G.ABRST
instruction
Completion device(d)
Completion status
indication device (d1)+1
When completed with an error
Instruction execution
When completed
normally
1 scan
Instruction execution complete
Summary of Contents for MELSEC iQ-F FX5
Page 1: ...MELSEC iQ F FX5 Programming Manual Instructions Standard Functions Function Blocks ...
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Page 17: ...15 CONTENTS ...
Page 24: ...22 MEMO ...
Page 1050: ...1048 26 TIME DATA FUNCTIONS 26 4 Division MEMO ...
Page 1068: ...1066 29 COUNTER FUNCTION BLOCKS 29 4 Counter Function Block Operation error There is no error ...
Page 1107: ...I 1105 MEMO ...
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