Download 15. ABSOLUTE POSITION DETECTION SYSTEM

15. ABSOLUTE POSITION DETECTION SYSTEM
15.7.2 Transfer method
The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the
servo-on signal (SON) going OFF, an emergency stop, or alarm, is explained below. In the absolute
position detection system, every time the servo-on (SON) signal is turned on, the ABS transfer mode
(ABSM) signal should always be turned on to read the current position in the servo amplifier to the
controller. The servo amplifier transmits to the controller the current position latched when the ABS
transfer mode (ABSM) signal switches from OFF to ON. At the same time, this data is set as a position
command value inside the servo amplifier. Unless the ABS transfer mode signal (ABSM) is turned ON,
the base circuit cannot be turned ON.
(1) At power-on
(a) Timing chart
Power
supply
ON
OFF
If SON is turned ON before ABSM is input
Servo-on
(SON)
ON
OFF
ON
4)
ABS transfer mode
(ABSM)
OFF
ABS request
(ABSR)
Send data ready
(TLC)
ON
2), 3)
During transfer of ABS
During transfer of ABS
(Note)
(Note)
(Note)
(Note)
OFF
ON
OFF
(Note)
Transmission
(ABS) data
D01:bit1
ZSP:bit2
(Note)
ABS data
ABS data
80[ms]
80[ms]
ON
Base circuit
OFF
Ready
(RD)
ON
OFF
1)
Operation
enabled
Note: For details, refer to (1) (b) in this section.
15 - 8
Operation
enabled