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14. ABSOLUTE POSITION DETECTION SYSTEM
14.9.2 Transfer method
The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the servo-on
(SON) going OFF, an emergency stop (EMG), or alarm (ALM), is explained below. In the absolute position
detection system, every time the servo-on (SON) is turned on, the ABS transfer mode (ABSM) should always
be turned on to read the current position in the servo amplifier to the controller. The servo amplifier transmits to
the controller the current position latched when the ABS transfer mode (ABSM) switches from OFF to ON. At
the same time, this data is set as a position command value inside the servo amplifier. Unless the ABS transfer
mode (ABSM) is turned ON, the base circuit cannot be turned ON.
(1) At power-on
(a) Timing chart
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
95[ms] 95[ms]
1)
2), 3)
Power
supply
Servo-on
(SON)
4)
ABS transfer mode
(ABSM)
ABS request
(ABSR)
ABS transmission
data ready
(ABST)
Transmission
(ABS) data
Base circuit
Ready
(RD)
If SON is turned ON before ABSM is input
During transfer of ABS During transfer of ABS
(Note) (Note)
(Note) (Note)
(Note) (Note)
ABS data ABS data
Operation
enabled
Operation
enabled
ABSB0:bit1
ABSB1:bit2
Note. For details, refer to (1) (b) of this section.