Mitsubishi Melsec-Q QD75D1, User Manual

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12 - 66
MELSEC-Q
12 CONTROL SUB FUNCTIONS
The following drawing shows an operation when data is transferred to the
servo amplifier.
ABRST
S+4 (Status)
D+0 (Complete device)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Positioning complete
signal
BUSY signal
Axis operation status
Servo ON
(SON)
ABS transfer
mode (ABSM)
ABS request (ABSR)
ABS transmission
data ready (ABST)
Transmission (ABS) data
Statuses of
devices
Statuses of
the QD75
I/O signals
from/to servo
amplifier
"ABRST " is executed continuously until "S+4" becomes 0.
ON for one scan
0 0
1)
2)
3)
4)
5)
6)
7)
Analyzing
ABS transmitting
Lower 2bit
Checksum
higher 2bit
*1
Standby
Values other than 0 (the phase numbers of absolute position restoration) is
stored after the process starts.
1: Approx. 60ms + scan time
Fig. 12.39 Signal state during the absolute position detection
1) The BUSY signal is turned ON and the axis operation status is set
to "Analyzing" by the dedicated instruction "ABRST ".
At this time, the signal is controlled to turn OFF the servo amplifier.
The servo is powered OFF in 60ms + scan time.
2) When the servo is turned ON, the ABS transfer mode is
simultaneously turned ON.
After receiving the ABS transfer mode, detecting the absolute
position and calculating the absolute position, the servo amplifier
will turn ON the ABS transmission data ready (ABST) and answer
back to QD75 notifying that the send data is ready.
3) After recognizing that the ABS transmission data ready (ABST)
turned ON, QD75 turns ON the ABS request (ABSR).