9 Application Instructions API 150-199 the encoder absolute position (pulse number within singleturn or PUU) (P0-52) is stored in D 2 +2. The higher 16 bits of the encoder absolute position (pulse number within singleturn or PUU) (P0-52) is stored in D 2 +3. 6. After the the reading of the absolute positio of a servo through the instruciton DABSR is complete, M1580 will be On. If an error occurs during the execution of the instruciton, M1581 will be On. 7. When driving the DABSR instruction, please specify normally open contact.
If the drive contact of DABSR command turns Off when DABSR command read starts, the execution of absolute current value read will be interrupted and result in incorrect data. Please be careful and notice that. 8. If the input signals are from the high-speed input points X0~X7, it takes 2 seconds for the instruction to be executed. if the input signals are form the input points following X20, it takes 3 seconds for the instruciton to be executed. The time it takes for the instruction to be executed is affected by the scan time. Program Example: (For SA/SX/SC, EH/SV, EH3 V1.40 (and below), SV2 V1.20 (and below)) 1.
When X7 = On, the 32-bit absolute position data read from Servo will be stored in the present value registers (D1337, D1336) of CH0 pulse in EH MPU. At the same time, the timer T10 is enabled and starts to count for 5 seconds. If the reading of the absolute position is not completed after 5 seconds, M10 will be On, indicating that 2. When enabling the connection to the system, please synchronize the power input of DVP-PLC the reading of absolute position encounters abnormality. EH/EH2/SV/EH3/SV2 and SERVO AMP or activate the power of SERVO AMP earlier than DVP-PLC. S D D 1 2 X7 M11 ABS read completed Time-out : 5 sec.
T0 M10 ABS absolute position data read is abnormal Read overtime M1029 execution completed flag ABS absolute position data read completed Program Example: (For SA/SX/SC, EH/SV, EH3 V1.40 (and below), SV2 V1.20 (and below)) 1. When X7 = On, the absolute position data read from Delta ASDA-A2 servo will be stored in the registers D0~D3. The state of M1580 and the state of M1581 indicates whether the reading of the absolute position is successful.
X7 Used with Delta ASDA-A2 servo X7 S D 1 D 2 M1580 ABS absolute position data read completed Execution completed M1581 ABS absolute position data read is abnormal Execution error DVP-PLC Application Manual 9-40 DABS X0 Y4 D1336 TMR T0 K50 SET M11 SET M1177 DABSR X0 Y4 D0 SET M11 SET M12