Mitsubishi Electric Melservo-J3 Series MR-J3-B, Instruction Manual

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App. - 20
APPENDIX
App. 5.2.2 Program example when 1 station is occupied
POINT
To execute a dog type home position return with the CC-Link communication
functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG)
with the RY03 in this example.
Operate the servo amplifier of station 1 in the positioning mode and read the "current position" data.
Operation: Alarm reset, dog type home position return, JOG operation, automatic operation under point table
command
Code No. Description
H0001 Lower 16-bit data of current position (hexadecimal)
H0002 Upper 16-bit data of current position (hexadecimal)
Reset command
Servo-on command
Automatic/manual selection
Home position return
command
Proximity dog command
Home position return completion
Reads remote input (RX00 to RX1F) of buffer
memory to M200 to M231.
Check the status of CC-Link.
Reads RWr3 and RWr2 of buffer memory to
D11 and D12 when instruction code execution
completion (RX09) turns on.
Automatic/manual selection
Automatic operation mode selection (RY06)
Manual operation mode selection (RY06)
Home position return request
Forward rotation start request
Forward rotation start request reset
Proximity dog command (RY03)
Command request time 10ms *1
Point table establishment time 10ms *1
Writes current alarm read (H0010) to RWw2 at
trouble (RX1A) occurrence.
Turns on instruction code execution demand
(RY09).
Turns off instruction code execution demand
(RY09).
Alarm reset command (RY1A)
Servo-on command (RY00)