9 Application Instructions API 150-199 Remarks: (Used with Mitsubishi MR-J2 Servo drive) 1. If the instruction is interrupted when PLC is still reading the absolute position of SERVO, an ALARM message (ALE5) will occur in SERVO. 2. Timing chart of DABSR instruction reading absolute position: a) When DABSR instruction starts to execute, it will drive SERBVO On (SON) and ABS transmittion mode for output. b) By “transmission is ready” and “ABS request” signals, you can confirm the transmission and reciept of both sides as well as processing the transmission of the 32-bit present position data plus the 6-bit check data. c) The data are transmitted by ABS (bit0, bit1).
ABS data transmission mode SERVO ON SON Transmission data is ready ABSM TLC AMP output ABS request ABSR Controller output ABS(bit 1) ZSP AMP output ABS(bit 0) D01 AMP output 32-bit present value position data +(plus) 6-bit check data 3. This instruction is applicable to the Servo motor equipped with absolute positioning function, e.g. Mitsubishi MR-J2-A Servo drive. 4. Select one of the following methods for the initial reading of present absolute position. a) Complete zero point return by using reset signal function to execute API 156 ZRN instruction. b) After using JOG or manual operation to adjust the zero point position, input a reset signal in SERVO AMP.
See the figure of external switch below for whether to use DVP-PLC for output. For the wiring of DVP-PLC and Mitsubishi MR-H2- □ A, see remarks of API 159 DRVA instruction. Ex: Mitsubishi MR-J2- A 5. Flags explanation: M1010: (For EH/EH2/SV/EH3/SV2 series MPU) When M1010 is On, CH0 (Y0, Y1) and CH1 (Y2, Y3) will output pulses while END instruction is being executed. When the output starts, M1010 will automatically turn Off. M1029: (For EH/EH2/SV/EH3/SV2 series MPU) When the first group CH0 (Y0, Y1) pulse output or the execution of other relevant instructions are completed, M1029 will turn On. M1030:
(For EH/EH2/SV/EH3/SV2 series MPU) When the second group CH1 (Y2, Y3) pulse output is DVP-PLC Application Manual 9-41 CR reset SG 8 10 CR 8 SG 10