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14. ABSOLUTE POSITION DETECTION SYSTEM
(b) Device list
X input contact Y output contact
X20 ABS Transmission data bit 0 / positioning Y30 Servo-on
completion Y31 ABS transfer mode
X21 ABS Transmission data bit 1 / zero speed Y32 ABS request
detection Y33 Alarm reset
X22 Reading to send ABS data / limiting torque Y34
(Note 2)
Electromagnetic brake output
X23 Servo alarm Y35
(Note 1)
Clear
X24 Alarm reset switch Y38 Servo alarm
X25 Servo emergency stop Y39 ABS communication error
X26 Servo-on switch Y3A ABS checksum error
X27 Home position return start switch M contact
X28 Operation mode I M5 ABS data transmission start
X29 Operation mode II M6 Sum check completion
D register M7 Sum check mismatch
D0 ABS data transmission counter M8 ABS data ready
D1 Checksum transmission counter M9 Transmission data read enabled
D2 Checksum addition register M10 Checksum 2 bits read completion
D3 ABS data: Lower 16 bits M11 ABS 2 bits read completion
D4 ABS data: Upper 16 bits M12 ABS 2 bits request
D5 ABS data 2-bit receiving buffer M13 Servo-on request
D6 Check data in case of checksum error M14 Servo alarm
D7 Number of retries M15 ABS data transfer retry start flag set
D8 Forward rotation direction M16 Retry flag set
D9 Home position address: Lower 16 bits M17 Retry flag reset
D10 Home position address: Upper 16 bits M18 PLS processing command
D11 Drive unit ready data M20
(Note 1)
Clear (CR) ON timer request
D12 Home position return completion data M21
(Note 1)
Data set type home position return request
D110 Received shift data: Lower 16 bits M22 Home position return processing instruction
D111 Received shift data: Upper 16 bits M23 Current position change processing
T timer instruction
T0 ABS transmission mode timer M24 Current position change flag
T1 ABS request response timer M26 ABS transfer mode OFF permission
T2 Retry wait timer C counter
T3 ABS data send reading response timer C0 ABS data receive times counter
T10
(Note 1)
Clear (CR) ON timer C1 Checksum receive times counter
T200 Transmitted data read 10ms delay timer C2 Retry counter
T211 Retry ABS transfer mode OFF wait timer
20ms set
Note 1. Required for data set type home position return.
2. Required for electromagnetic brake output.