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15. ABSOLUTE POSITION DETECTION SYSTEM
(c) ABS data transfer program for X axis
This sequence program example assumes the following conditions.
Parameters of the A1SD71-S2 positioning module
1) Unit setting : 3
pulse (PLS)
2) Travel per pulse : 1
1 pulse
To select the unit other than the pulse, conversion into the unit of the feed command value per
pulse is required. Hence, add the following program to the area marked Note in the sequence
program.
<Additional program>
Item mm inch degree pulse
Unit setting 0 1 2 3
Travel per pulse 0.1 to 1.0 to 10.0
0.00001
to
0.0001
to
0.001
to
0.00001
to
0.0001
to
0.001
to
Unit of travel m/PLS inch/PLS degree/PLS PLS
D * P K D3 D3
Constant K for
conversion into
unit of travel
1 to 10 to 100 1 to 10 to 100 1 to 10 to 100 None
Reference
For 1 m/PLS, set constant K to 10
For 5 m/PLS, set constant K to 50
When the unit setting is pulse, the additional program is not required.
M9038
K1K1K201H0001TOP
M9039
X36
D7K3MOV
M8SET
M8 M9 M11
1 1
X36
M3RST
M8RST
C0RST
C1RST
A0D100DMOV
Y40
M0PLS
A1SD71 error reset
Setting retry count (3 times)
Loading received shift data
Servo-on request
Resetting ready to send
Resetting servo-on request
Resetting ABS transfer
counter at servo OFF
Resetting checksum transfer
counter at servo OFF
Servo-on output
ABS I/F start
(To be continued)
Initial
pulse
ON
PC RUN
Servo-on PB
Servo-on
PB
Servo-on
request
Error
flag
Retry flag
setting
Initial setting
Servo-on control