Mitsubishi Melsec-Q QD75D1, User Manual

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MELSEC-Q
14 DEDICATED INSTRUCTIONS
(2) 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 Section 12.6 for wiring of I/O signals.
(3) The Z.ABRST instruction completion can be confirmed using the complete
devices ((D)+0) and ((D)+1).
(a) 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.
(b) 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).
END
processing
END
processing
END
processing
END
processing
OFF
OFF
OFF
ON
ON
ON
When
completed
abnormally
When
completed normally
1 scan
Z.ABRST instruction
execution completion
Sequence program
Z.ABRST instruction
Complete device
Complete state display
device
The completion of absolute position restoration can be confirmed using the ((S)+4)
"status".