E L C P r o g r a m m i n g M a n u a l
F o r
m o r e
i n f o r m a t i o n v i s i t :
w w w. e a t o n . c o m
M N 0 5 0 0 3 0 0 3 E
3 - 3 7 4
API Mnemonic
Operands
Function
155
D
ABSR
S, D
1
, D
2
Absolute Position Read
Bit Devices
Word devices
Program Steps
Type
OP
X Y M S K
H KnX
KnY
KnM KnS T
C
D
E
F
S
*
*
*
*
D
1
*
*
*
D
2
*
*
*
*
*
*
*
DABSR: 13 steps
ELC ELCB
ELCM
PB PC/PA/PH
PV
PB PH/PA
32
16
P
32
16
P
32
16
P
32
16
P
32 16
P
Operands:
S
: Input signal from Servo (occupies 3 continuous addresses)
D
1
: Control signal for controlling
the Servo (occupies 3 continuous addresses)
D
2
: Absolute position data (32-bit) read from Servo
Description:
1.
This instruction provides continuous absolute position data read function of the Mitsubishi
servo drive MR-J2 (with absolute position check function).
2.
There is no 16-bit instruction for API 155, it can only be used as a 32-bit instruction, DABSR is
available and it can only be used once in the program.
3.
Flags: For the description of M1010, M1029, M1102, M1103, M1334, M1335, M1336, M1337,
M1346, please refer to the Notes below.
4.
S
is the input signal from the Servo and it will use 3 continuous addresses
S
,
S
+1,
S
+2.
Device
S
and
S
+1 are connected to the ABS (bit0, bit1) of the Servo for data transmitting.
Device
S
+2 is connected to Servo for transmitting the data ready flag.
5.
D
1
is the control signal for controlling the Servo and it will use 3 continuous addresses
D
1
,
D
1
+1,
D
1
+2. Device
D
1
is connected to the Servo ON (SON), device
D
1
+1 is connected to ABS
data transmitting mode and
D
1
+2 is connected to ABS data request signal.
ELC-PC12NNDT
ABS(bit 0)
ABS(bit 1)
SERVO ON
SERVO AMP
MR-J2-A
CN1B
D01
4
19
10
6
ZSP
TLC
SG
5
8
9
SON
ABSM
ABSR
X0
X1
X2
24G
S/S
+24V
Y0
Y1
Y2
C
VDD 3
Transmission data is ready
ABS requirement
ABS transmission mode
\
6.
D
2
is the absolute position data (32 bit) read from Servo and it will use 2 continuous addresses
D
2
,
D
2
+1.
D
2
is low word and
D
2
+1 is high word. The absolute position data should be stored in
the current value registers (D1348, D1349) corresponding to CH0 pulse or the current value
Содержание ELC-PB
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