Mitsubishi Electric MELSEC iQ-F FX5, Programming Manual

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16 POSITIONING INSTRUCTION
16.2 Positioning Module
881
16
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Control data
Processing details
• The positioning data of the following axis is read from the servo amplifier supporting the absolute position and the value
with the unit converted is stored in the "Current feed value" and "Machine feed value" areas in the positioning module. For
the absolute position detection system, restore the absolute position once when it is powered on or the CPU module is
reset.
• The following figure shows how the G.ABRST  instruction operates.
*1 The CPU module input/output can also be used.
• For communication with the servo amplifier corresponding to the absolute position (data read/write), the input/output of
CPU module or the I/O module is used. To use the G.ABRST  instruction, prepare the following number of points to
communicate with servo amplifier per axis.
• Whether the execution of the G.ABRST  instruction has been completed normally or with an error can be checked with the
completion device (d) or completion status indication device (d)+1.
Device Item Description Setting range Set by
(s)+0 System area
  
(s)+1 Completion status The instruction completion status is stored.
• 0: Normal
• Other than 0: Error (error code)

System
(s)+2 Signal received from
the servo amplifier Write the signal status, below, input from the servo amplifier to the CPU module or I/
O module.
• b0: ABS data bit 0
• b1: ABS data bit 1
• b2: Send data ready flag
0, 1 User
(s)+3 Signal to be sent to the
servo amplifier Performs the operation with this instruction by using the "Signal received from the
servo amplifier" in (s)+2. The ON/ OFF state of the following data, output to the
servo amplifier, is stored.
• b0: Servo ON
• b1: ABS transfer mode
• b2: ABS request flag

System
(s)+4 Status Status of communication with the servo amplifier
• 0: Communication complete (set by the user at start of communication)
• Other than 0: Now communicating (stored by the system)
0 User/
System
(s)+5 to
(s)+7 System area   
Instruction symbol Target axis
G.ABRST1 Axis 1
G.ABRST2 Axis 2
• Input: 3 points
• Output: 3 points
Device Description
Completion device (d) This device turns on during the END processing of the scan where the G.ABRST  instruction completed, and
turns off during the next END processing.
Completion status indication device (d)+1 This device turns on or off depending on the completion status of the G.ABRST  instruction.
When completed normally: Unchanged from off.
When completed with an error: Turns on during the END processing of the scan where the G.ABRST

instruction completed, and turns off during the next END processing.
(s)+0
(s)+1
(s)+2
(s)+3
(s)+4
(s)+5
(s)+7


Control data
Current feed value
Input module
Output module
Servo amplifier
Current value data
CPU module Positioning module I/O module
*1
Machine feed value
G.ABRST