Mitsubishi Electric MELSEC iQ-R Series, Programming Manual

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22 POSITIONING INSTRUCTIONS
22.1 Restoring the Absolute Position
Setting data
■
Description, range, data type
*1 When specifying setting data by using a label, define an array to secure enough operation area and specify an element of the array
label.
■
Applicable devices
*1 FX and FY cannot be used.
*2 T, ST, C, and FD cannot be used.
*3 FD cannot be used.
■
Control data
Operand Description Range Data type Data type (label)
(U) G.ABRST  Start I/O number (first three digits in four-digit
hexadecimal representation) of a module 00H to FEH 16-bit unsigned binary ANY16
Z.ABRST  Start I/O number (first three digits in four-digit
hexadecimal representation) of a module 00H to FEH String ANY16_OR_STRING_S
INGLE
(s) Start device where the control data is stored Refer to the control data. Device name ANY16
*1
(d) Device to be turned on one scan upon completion of
instruction
If the instruction is completed with an error, (d)+1 is also
turned on.  Bit ANYBIT_ARRAY
(Number of elements: 2)
EN Execution condition

Bit BOOL
ENO Execution result

Bit BOOL
Operand Bit Word Double word Indirect
specification
Constant Others
(U)
X, Y, M, L,
SM, F, B, SB,
FX, FY J  \  T, ST, C, D,
W, SD, SW,
FD, R, ZR,
RD U  \G  , J  \  ,
U3E  \(H)G 
Z LT, LST,
LC
LZ K, H E $
(U) G.ABRST 
           
Z.ABRST 
           
(s)   
*3
        
(d) 
*1
 
*2
        
Operand: (s)
Device Item Description Setting range Set by
+0 System area   
+1 Completion status The instruction completion status is stored.
• 0: Completed successfully
• Other than 0: Completed with an error (error code)
 System
+2 Signal received from the servo amplifier Write the signal status, below, imported from the servo amplifier
to the input module.
• b0: ABS data bit 0
• b1: ABS data bit 1
• b2: Send data ready flag
0, 1 User
+3 Signal to be sent to the servo amplifier Performs the operation with the dedicated 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
+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
+5 to +7 System area   