3. Instruction Set
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.
6. When DABSR instruction is completed, M1029 will be ON. M1029 has to be reset by users.
7. Please use NO contact as the drive contact of DABSR instruction. If the drive contact is OFF
during the execution of DABSR, the instruction will be stopped and errors will occur on read
data.
8. If the drive contact of DABSR instruction turns OFF after the instruction is completed, the servo
ON (SON) signal connected to D
1
will also turn OFF and the operation will be disabled.
Explanations: (The instruction can be used in DVP-ES2/EX2 series PLCs whose version is
3.20; EC5: V1.00; DVP-SA2 series PLCs whose version is 2.60; DVP-SE series
PLCs whose version is 1.40; DVP-SX2 series PLCs whose version is 2.40 (and
above).)
1. This instruction reads the absolute position (ABS) of MITSUBISHI MR-J2 servo drive (with
absolute position check function), and the absolute position (ABS) of Delta ASDA-A2 servo
drive (whose firmware version is 1.045 sub12 (and above).
2. The state of M1177 determines the servo drive which is used. If M1177 is Off, MITSUBISHI
MR-J2 servo drive is used. Please refer to the points above for more information about setting
MITSUBISHI MR-J2 servo drive. If M1177 is On, Delta ASDA-A2 servo drive is used. Please
refer to the points below for more information about settiing Delta ASDA-A2 servo drive.
3. Only 32-bit instruction is applicable for ABSR instruction (DABSR) and it can only be used
ONCE in the program.
4. The input signal from a servo is stored in S. S occupies 3 consecutive devices. S, S +1, and S
+2 are connected to ABSR, ABSD, ABSW on a servo.
5. D
1
will occupy 2 consecutive devices, D
1
, and D
1
+ 1. D
1
is connected to ABSE on a servo.
D
1
+1 is connected to ABSQ on a servo. Please refer to the example below for more
information about wiring.
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