MR-J2S-A Instruction Manual - Automation Systems and Controls

15. ABSOLUTE POSITION DETECTION SYSTEM(b) Device listX input contactX0 ABS bit 0 / completion of positioning Y0 Servo-onY output contactX1 ABS bit 1 / zero speed Y1 ABS transfer modeX2 Send ABS data ready/ torque limit control Y2 ABS requestX3 Servo alarm Y3 Alarm resetX4 Alarm reset switch Y4 (Note 2) Electromagnetic brake outputX5 Servo emergency stop Y5 (Note 1) ClearX6 Servo-on switch Y10 Servo alarmX7 Servo ready Y11 ABS communication errorX10 JOG ( ) switch Y12 ABS checksum errorX11 JOG ( ) switchX12X13X14X15Position start switchPosition stop switchHome position return start switch1PG error resetD registerD0 ABS data: Lower 16 bits M0 Error flagM contactD1 ABS data: Upper 16 bits M1 ABS data transmission startD2 Checksum addition counter M2 Retry commandD3 Check data in case of checksum error M3 ABS data readD4Transmission retry count in checksumdiscrepancyD24 Home position address: Lower 16 bits M5 Servo-on requestD25 Home position address: Upper 16 bits M6 Retry flagD106D1071PG present position address: Lower 16 bits1PG present position address: Upper 16 bitsM4M10M11M12M13M20M51M52M57M58M59Servo-on request reset permissionABS data 2 bit receiving bufferABS data 32 bit bufferChecksum 6 bit bufferFor checksum comparisonT timer M62 Sum check discrepancy (greater)T200 Retry wait timer M63 Sum check discrepancyT201 ABS transfer mode timer M64 Sum check discrepancy (less)T202T203T204ABS request response timerReady to send response timerABS data waiting timerM70(Note 1)M71(Note 1)M99Clear (CR) ON timer requestData set type home position return requestABS data readyT210(Note 1)Clear (CR) ON timerT211 Retry ABS transfer mode OFF wait timer C counterNote 1. Necessary when data set type home position return is executed.2. Necessary in the event of electromagnetic brake output.C0C1C2All data reception frequency counter (19 times)Checksum reception frequency counterABS data reception frequency counter (16 times)15 - 40