Delta DVP-ES2 - Page 593

DVP-ES2/EX2/EC5/SS2/SA2/SX2/SE&TP Operation Manual - Programming
3-472
API Mnemonic Operands Function
Controllers
ES2/EX2/
EC5
SS2
SA2
SE
SX2
155 D ABSR Absolute position read
Type
OP
Bit Devices Word devices Program Steps
X Y M S K H KnX KnY KnM KnS T C D E F
DABSR: 13 steps
S
*
*
*
*
D
1
*
*
*
D
2
*
*
*
*
*
*
*
PULSE
16-bit
32-bit
ES2/EX2/
EC5
SS2
SA2
SE
SX2
ES2/EX2/
EC5
SS2
SA2
SE
SX2
ES2/EX2/
EC5
SS2
SA2
SE
SX2
Operands:
S: Input signal from servo (occupies 3 consecutive devices) D
1
: Control signal for controlling
servo (occupies 3 consecutive devices at most) D
2
: Absolute position data (32-bit) read from
servo (occupies 4 consecutive devices at most)
Explanations: (The instruction can be used in DVP-ES2/EX2 series PLCs whose version is
3.00; DVP-SA2 series PLCs whose version is 2.40; DVP-SE series PLCs whose
version is 1.20; DVP-SX2 series PLCs whose version is 2.20; DVP-SS2 series
PLCs (and below).)
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.
S
D1
PLC
DVP32ES200T
ABS(bit 0)
ABS(bit 1)
SERVO ON
ABS transmission mode
ABS request
SERVO AMP
MR-J2-A
CN1B
D01
4
19
10
6
ZSP
TLC
SG
5
8
9
SON
ABSM
ABSR
X0
X1
X2
S/S
UP0
Y4
Y5
Y6
ZP0
VDD
3
Transmission ready