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15. ABSOLUTE POSITION DETECTION SYSTEM
(b) Detailed description of absolute position data transfer
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
3)
4)
5)
7)
(Note)
1)
2) 6)
Servo-on
(programmable
controller)
Servo-on
(SON)
ABS transfer mode
(ABSM)
ABS request
(ABSR)
Send data ready
(TLC)
Transmission (ABS) data
Note: If the servo-on signal (SON) is not turned ON within 1 second after the ABS transfer mode signal (ABSM)
is turned ON, an SON time-out warning (AL.EA) occurs. This warning, however, does not interrupt data
transmission. It is automatically cleared when the servo-on (SON) signal is turned ON.
During transfer of ABS
Lower
2 bits
Check sum
Upper 2 bits
1) The programmable controller turns ON the ABS transfer mode signal (ABSM) and servo-on
signals (SON) at the leading edge of the internal servo-on signal.
2) In response to the ABS transfer mode signal, the servo detects and calculates the absolute
position and turns ON the send data ready (TLC) signal to notify the programmable controller
that the servo is ready for data transmission.
3) After acknowledging that the ready to send (TLC) signal has been turned ON, the
programmable controller turns ABS request (ABSR) ON.
4) In response to ABS request (ABSR), the servo outputs the lower 2 bits of the ABS data and the
ready to send (TLC) signal in the OFF state.
5) After acknowledging that the ready to send (TLC) signal has been turned OFF, which implies
that 2 bits of the ABS data have been transmitted, the programmable controller reads the lower
2 bits of the ABS data and then turns OFF the ABS request (ABSR).
6) The servo turns ON the ready to send (TLC) so that it can respond to the next request.
Steps 3) to 6) are repeated until 32-bit data and the 6-bit check sum have been transmitted.
7) After receiving of the check sum, the programmable controller turns the ABS transfer mode
signal (ABSM) OFF.
If the ABS transfer mode signal (ABSM) is turned OFF during data transmission, the ABS
transfer mode is interrupted.