Mitsubishi Melsec-Q QD75D1, User Manual

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MELSEC-Q
14 DEDICATED INSTRUCTIONS
(6) If the Z.ABRST instruction is executed in either of the following cases, an error
"Dedicated instruction error" (error code: 804) will occur and absolute position
restoration cannot be carried out.
• Any value other than 0 is set to "Status" (device: (S)+4) of the control data (at
communication start with servo amplifier).
• The instruction for a non-existent axis is specified.
(Example: The Z.ABRST2 instruction is specified when the QD75P1 is used.)
• "Status" (device: (S)+4) of the control data is changed during absolute position
restoration (during communication with servo amplifier).
[Program examples]
Program to restore the absolute position of axis 1.
The X47 to X49 and Y50 to Y52 are used for communication with the servo
amplifier.
X47: ABS data bit 0
X48: ABS data bit 1
X49: Transmission data READY flag
Y50: Servo ON signal
Y51: ABS transfer mode
Y52: ABS request flag
<D42 to D45 reset>
<Error code transmission to D49>
<ABS data bit 0 ON/OFF>
<ABS data bit 1 ON/OFF>
<Transmission data preparation complete
flag ON/OFF>
<ABRST1 instruction execution>
796
788
802
823
(1) Absolute position restoration command acceptance
(3) ABS data setting and ABRST1 instruction execution
(2) Setting of transmit data to servo-amplifier and confirmation of absolute position restoration completion
ABRST1 instruction completed when M42 is ON and M43 is OFF.
Absolute position data restoration completed when status = 0.