Mitsubishi Electric MELSERVO MR-J3 A Series, Инструкция по эксплуатации

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14. ABSOLUTE POSITION DETECTION SYSTEM
14.10 Communication-based ABS transfer system
14.10.1 Serial communication command
The following commands are available for reading absolute position data using the serial communication
function. When reading data, take care to specify the correct station number of the drive unit from where the
data will be read.
When the master station sends the data No. to the slave station (servo amplifier), the slave station returns the
data value to the master station.
(1) Transmission
Transmit command [0][2] and data No. [9][1].
(2) Reply
The absolute position data in the command pulse unit is returned in hexadecimal.
Data 32-bit length (hexadecimal representation)
14.10.2 Absolute position data transfer protocol
(1) Data transfer procedure
Every time the servo-on (SON) turns on at power-on or like, the controller must read the current position
data in the servo amplifier. Not performing this operation will cause a position shift.
Time-out monitoring is performed by the controller.
Servo amplifier Controller
Watch dog timer
Absolute position
data acquisition
SON ON
RD ON
Absolute position data
command transmission
Command [0][2] data No.[9][1]
Absolute position data return
Position command start
Current position
acquisition
Current value
change