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31 POSITIONING INSTRUCTION
31.11 Absolute Position Detection System
Initial OPR
When your system is established, even if your servo motor is equipped with an absolute position detection function, it is
necessary to perform OPR at least once to send the clear signal to the servo motor.
Use one of the following methods for the initial OPR:
• Enable the clear signal function using the DSZR/DDSZR instruction, and perform OPR. (Page 429 Mechanical OPR,
Page 405 Clear Signal Output)
• Carry out OPR for the machine using the position adjustment method in the jogging operation mode or manual operation
mode, and then input the clear signal. To input the clear signal to the servo amplifier, use the output of the PLC or the
external switch shown in the following figure.
Operation of the complete flags
The following describes the operation timings of the complete flags.
Program example
The following is a program example of reading the current ABS value.
Item FX3 compatible
Instruction execution complete flag (SM8029) Instruction execution abnormal end flag (SM8329)
ON
condition
When ABS data has been normally read from the servo amplifier From when the following error occurs to when the error cause is eliminated
and the drive contact is turned off
• The three specified devices cannot be secured.
• Sum error of the ABS data read from the servo amplifier
• Upper limit on the number of ABS instructions simultaneously executed
ON OFF
condition
When the drive contact is turned off
CR 41
DOCOM
47
Example of MR-J4A
Cleared
SD5502 K1D0DHCMOVP
Current address
(pulse unit)
axis1
Time out if operation does not end in 5 seconds
Read ABS value to D0
Read ABS value to current value register for axis 1
Always ON
Drive DABS instruction
Instruction
execution
complete flag
Instruction
execution
abnormal end
Normally
end
Normally
end
Abnormal
end
5 second
elapsed
M1
M1
M2
SM400
Y21 D0X21
T0
SET M3
DABS
SM8029
SM8329
SET M1
SET M2
T0 K50OUT
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