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14. ABSOLUTE POSITION DETECTION SYSTEM
(b) Device list
X input contact Y output contact
X0 Transmission data bit 0 / completion of
positioning
Y0
Y1
Servo-on
ABS transfer mode
X1 Transmission data bit 1 / zero speed detection Y2 ABS request
X2 Send ABS transmission data ready/ torque limit
control
Y3
Y4
(Note 2)
Alarm reset
Electromagnetic brake output
X3 Servo alarm Y5
(Note 1)
Clear
X4 Alarm reset switch Y10 Servo alarm
X5 Servo emergency stop Y11 ABS communication error
X6 Servo-on switch Y12 ABS checksum error
X7 Servo ready
X10 JOG ( ) switch
X11 JOG ( ) switch
X12 Position start switch
X13 Position stop switch
X14 Home position return start switch
X15 1PG error reset
D register M contact
D0 ABS data: Lower 16 bits M0 Error flag
D1 ABS data: Upper 16 bits M1 ABS data transmission start
D2 Checksum addition counter M2 Retry command
D3 Check data in case of checksum error M3 ABS data read
D4 Transmission retry count in checksum
discrepancy
M4
M5
Servo-on request reset permission
Servo-on request
D24 Home position address: Lower 16 bits M6 Retry flag
D25 Home position address: Upper 16 bits M10
M11
M12
M13
ABS data 2 bit receiving buffer
D106
D107
1PG present position address: Lower 16 bits
1PG present position address: Upper 16 bits
M20
M51
ABS data 32 bit buffer
M52
M57
Checksum 6 bit buffer
M58
M59
For checksum comparison
T timer M62 Sum check discrepancy (greater)
T200 Retry wait timer M63 Sum check discrepancy
T201 ABS transfer mode timer M64 Sum check discrepancy (less)
T202
T203
T204
T210
(Note 1)
ABS request response timer
Ready to send response timer
ABS data waiting timer
Clear (CR) ON timer
M70
(Note 1)
M71
(Note 1)
M99
Clear (CR) ON timer request
Data set type home position return request
ABS data ready
T211 Retry ABS transfer mode OFF wait timer 20ms C counter
set C0 All data reception frequency counter (19 times)
C1 Checksum reception frequency counter
C2 ABS data reception frequency counter (16 times)
Note 1. Necessary when data set type home position return is executed.
2. Necessary in the event of electromagnetic brake output.