Mitsubishi Electric MELSEC-L LD75D, User Manual

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(b) An I/O module is used for communication (data read/write) with the servo amplifier
capable of processing the absolute positions.
When using the Z.ABRST  , prepare the input/output with the following number of points, for each axis, for
communication with the servo amplifier.
• Input: 3 points
• Output: 3 points
Refer to

Page 563, Section 12.6 for wiring of I/O signals.
(c) The Z.ABRST  instruction completion can be confirmed using the complete
devices ((D)+0) and ((D)+1).
Complete device ((D)+0): This device is turned ON by the END processing of the scan for which Z.ABRST 
instruction is completed, and turned OFF by the next END processing.
Complete state display device ((D)+1): This device is turned ON and OFF according to the state in which
Z.ABRST
 instruction is completed.
• When completed normally: Kept unchanged at OFF.
• When completed abnormally: This device is turned ON by the END processing of the scan for which
Z.ABRST  instruction is completed, and turned OFF by the next END processing. (same ON/OFF
operation as complete device).
The completion of absolute position restoration can be confirmed using the ((S)+4) "status".
(d) Using the Z.ABRST

instruction, the absolute position restoration is carried out in
the following procedure.
OFF
OFF
OFF
ON
ON
ON
When
completed
abnormally
When completed
normally
Program
Complete device
Z.ABRST instruction
Complete state display
device
END processing END processing END processing
Z.ABRST instruction
execution completion
END processing
1 scan
End
0
Start
Output the ((S)+3) data.
Set the data in ((S)+2).
Execute the Z.ABRST instruction.
Other than "0"
Is ((S)+4) "0"?
Output the servo ON, ABS transfer mode, and ABS request
flag to the output module using the program.
Set the ABS data bit 0/bit 1 and transmission data
READY flag using the program.