DVP-ES2-EX2-SS2-SA2-SX2-Operation Manual

DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming
API Mnemonic Operands Function
155 D ABSR Absolute position read
Controllers
ES2/EX2 SS2 SA2
SE
SX2
Type
Bit Devices Word devices Program Steps
OP X Y M S K H KnX KnY KnM KnS T C D E F
S * * * *
D 1 * * *
D 2 * * * * * * *
DABSR: 13 steps
PULSE 16-bit 32-bit
ES2/EX2 SS2 SA2
SA2
SA2
SX2 ES2/EX2 SS2 SX2 ES2/EX2 SS2
SE SE SE SX2
Operands:
S: Input signal from servo (occupies 3 consecutive devices) D 1 : Control signal for controlling
servo (occupies 3 consecutive devices) D 2 : Absolute position data (32-bit) read from servo
Explanations:
1. This instruction reads the absolute position (ABS) of servo drive with absolute position check
function, e.g. MITSUBISHI MR-J2.
2. Only 32-bit instruction is applicable for ABSR instruction (DABSR) and it can only be used
ONCE in the program.
3. S: input signal from servo. 3 consecutive devices S, S +1, S +2 are occupied. S and S +1 are
connected to the ABS (bit0, bit1) of servo for data transmitting. S +2 is connected to servo for
indicating transmission data being prepared.
4. D 1 : control signal for controlling servo. 3 consecutive devices D 1 , D 1 +1, D 1 +2 are occupied. D 1
is connected to servo ON (SON) of servo, D 1 +1 is connected to ABS transmission mode of
servo and D 1 +2 is connected to ABS request.
PLC-DVP32ES200T
+24V
S/S
X0
X1
X2
24G
ABS(bit 0)
ABS(bit 1)
Transmission ready
CN1B
VDD 3
D01 4
ZSP 19
TLC 6
SG 10
SERVO AMP
MR-J2-A
Y0
Y1
Y2
C
Servo ON
ABS transmission mode
ABS request
SON
ABSM
ABSR
5
8
9
5. D 2 : Absolute position data (32-bit) read from servo. 2 consecutive devices D 2 , D 2 +1 are
occupied. D 2 is low word and D 2 +1 is high word. When DABSR instruction is completed,
M1029 will be ON. M1029 has to be reset by users.
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