9 Application Instructions API 150-199 API 155 Operands: S : Input signal from Servo (occupies 3 consecutive devices) D 1 : Control signal for controlling Servo (occupies 3 consecutive devices at most) D 2 : Absolute position data (32-bit) read from Servo (occupies 4 consecutive devices at most) 1. Operand S and D 1 of SA series MPU do not support E, F index register modification. Explanations: (For SA/SX/SC, EH/SV, EH3 V1.40 (and below), and SV2 V1.20 (and below)) 2. See the specifications of each model for their range of use. 3. This instruction can only be used once in the program. 4. Flag: see remarks for more details. 5.
This instruction reads the absolute position (ABS) of MITSUBISHI MR-J2 servo drive (with absolute position check function). 6. S will occupy 3 consecutive devices, S , S +1, and S +2. S and S +1 are connected to the absolute position (bit 0, bit 1) on the servo for data transmitting. S +2 is connected to Servo for transmitting data ready flag. See the wiring example below for more details. 7. D 1 will occupy 3 consecutive devices, D 1 , D 1 + 1, D 1 + 2. D 1 is connected to SERVO On (SON) of Servo. D 1 +1 is connected to ABS transmisstion mode of Servo and D 1 +2 is connected to ABS request signal. See the wiring example below for more details. 8.
D 2 will occupy 2 consecutive devices D 2 and D 2 + 1. D 2 is the lower 16 bits and D 2 + 1 is the higher 16 bits. The absolute position data should be written into the present value registers (D1337, D1336) of CH0 pulse (Y0, Y1) DVP-PLC Application Manual 9-38 Mnemonic Operands Function D ABSR Read the Absolute Position from a Servo Motor Type OP Bit Devices Word Devices Program Steps X Y M S K H KnX KnY KnM KnS T C D E F DABSR:
13 steps S * * * * D 1 * * * D 2 * * * * * * * PULSE 16-bit 32-bit ES EX SS SA SX SC EH SV EH3 SV2 ES EX SS SA SX SC EH SV EH3 SV2 ES EX SS EH3 SA SX SC EH SV SV2 PLC DVP32EH00T +2 S X X X 24 Y Y Y C CN1B 4V VDD /S ABS(bit 0) 0 D01 ABS(bit 1) 1 ZSP transmission data is ready 2 TLC G SG SERVO ON 4 SON ABS transmission mode SERVO AMP MR-J2-A 3 4 19 6 10 5 8 9 +2 4V S /S X 0 X 1 X 2 24 G Y 4 SON 5 ABS transmission mode Y 5 ABSM 8 Y 6 ABSR 9 C 4 VDD 3 D01 4 ZSP 19 TLC 6 SG 10