22 POSITIONING INSTRUCTIONS
22.1 Restoring the Absolute Position
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• The positioning data is read from the servo amplifier corresponding to the absolute position along the following target axis,
and the value with the unit converted is stored in the "Current read value" and "Machine feed value" areas in the positioning
module. For the absolute position detection system, restore the absolute position once when it is powered on or the CPU
module is reset.
• The following figure shows how the ABRST instruction operates.
• For communication with the servo amplifier corresponding to the absolute position (data read/write), the I/O module is
used. To use the ABRST instruction, prepare I/O modules having the following number of points to communicate with
servo amplifier per axis.
• The execution of the ABRST instruction and whether it has been completed normally or with an error can be checked with
the completion device (d) or completion status indication device (d)+1.
Instruction symbol Target axis
G.ABRST1, Z.ABRST1 Axis 1
G.ABRST2, Z.ABRST2 Axis 2
G.ABRST3, Z.ABRST3 Axis 3
G.ABRST4, Z.ABRST4 Axis 4
• Input: 3 points
• Output: 3 points
• Completion device (d)
This device turns on during the END processing of the scan where the ABRST instruction completed, and turns off during the next END processing.
• Completion status indication device (d)+1
This device turns on or off depending on the completion status of the ABRST instruction.
When completed normally: Unchanged from off.
When completed with an error: Turns on during the END processing of the scan where the ABRST instruction completed, and turns off during the next END
processing (the same on/off operation as the completion device is performed).
(s)+0
(s)+1
(s)+2
(s)+3
(s)+4
(s)+5
(s)+7
·
ABRST
Control data
Current feed value
Input module
Output module
Servo amplifier
Current value data
CPU module Positioning module
Machine feed value
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