Mitsubishi Electric MELSERVO-J5 MR-J5-G Series, Руководство пользователя

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7 ABSOLUTE POSITION DETECTION SYSTEM
7.3 Absolute position detection system by DIO [A]
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Absolute position data transfer protocol
The following shows the data transfer procedure. After switching on ABSM, turn on SON. When ABSM is off, turning on SON
does not switch on the base circuit.
Data transfer procedure
Each time SON is turned on, such as when the power is switched on, the current position data in the servo amplifier is read to
the programmable controllers.
Time-out monitoring is performed on the programmable controllers side.
Servo amplifier Programmable controller
SON (Servo-on) on
ABSM (ABS transfer mode) on
Start processing
Each time SON is turned on,
ABSM is turned on and data
transfer is ready.
DIO assignment change
ABST (ABS transmission data ready) on
ABSR (ABS request) on
Repeated for 32 bits
Transmission data set Monitoring timer
ABST (ABS transmission data ready) off <Current position data>
The data is read in units of
two bits, and the read data is
shifted by two bits to the right
and written as the lowest bits.
This step is repeated until
32-bit data is configured.
16 times
Reading 2 bits
Shift and add
ABSR (ABS request) off
ABST (ABS transmission data ready) on
ABSR (ABS request) on
Repeated for 6 bits
<Sum check data>
Transmission data set Monitoring timer The data is read in units of
two bits, and the read data is
shifted by two bits to the right
and written as the lowest bits.
This step is repeated until
6-bit data is configured.
ABST (ABS transmission data ready) off
3 times
Reading 2 bits
Shift and add
ABSR (ABS request) off
ABST (ABS transmission data ready) on
Current position set A sum check is executed for
the received 32-bit data.
After the programmable
controller makes sure that
there are no errors in the
transfer data, the current
position is set.
End processing
Sum check
ABSM (ABS transfer mode) off
DIO assignment change
ABST (ABS transmission data ready) off