Mitsubishi Electric MR-J5 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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7
Transfer method
The following shows the procedure for turning on the base circuit again from when the base circuit is in off status because the
SON and EM2 are off, or alarm occurred. In the absolute position detection system, every time SON signal is turned on, turn
on ABSM to read the current position in the servo amplifier to the controller. In the servo amplifier, the current position latched
on the timing when the ABSM turns on from off, are sent to the controller side. At the same time, this data is set as a position
command value inside the servo amplifier. Unless ABSM is turned on, the base circuit cannot be turned on.
■
At power-on
[Timing chart]
After the absolute position data is transmitted, RD turns on by ABSM-off. When RD is on, ABSM-on is not received. (1)
Even if SON is turned on before ABSM is turned on, the base circuit is not turned on until ABSM is turned on.
If an alarm occurs, ABSM transfer is not received. If a warning occurs, ABSM transfer can be received. (2)
If ABSM is turned off during the ABSM transfer mode, the ABS transfer mode is interrupted and [AL. 0E5 ABS time-out
warning] occurs.
If SON is turned off, RES is turned on, or EM2 is turned off during the ABS transfer mode, [AL. 0E5] occurs. (3)
The output signal functions of ABST, ABSB0, and ABSB1 are switched by the following conditions. (4)
ABSM transfer cannot receive while the base circuit is on. For re-transferring, turn off SON signal and keep the base circuit in
the off state for 20 ms or longer. (5)
CN3 pin No. Output signal
ABSM (ABS transfer mode): Off ABSM (ABS transfer mode): On
22 In-position ABS transmission data bit 0
23 Zero speed detection ABS transmission data bit 1
25 Limiting torque ABS transmission data ready
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
100 ms 100 ms
*1
*1
*1
*1
*1
*1
(2) (3)
(1)
Power supply
When SON turned on before ABSM input
SON (Servo-on)
ABSM (ABS transfer mode) (4) During ABS transfer During ABS transfer
ABSR (ABS request)
ABST (ABS transmission data ready)
ABSB0 (ABS transmission data bit 0)
ABSB1 (ABS transmission data bit 1)
Absolute position
data
Absolute position
data
Base circuit
Operation
possible
RD (Ready)
Operation
possible