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15. ABSOLUTE POSITION DETECTION SYSTEM
X26
M13SET
M23
K1D11K816H0000FROM
D11H0001WAND
M23
1 1
2 2
D11 K1 M24PLS
M13 M14 M16
X26
M8RST
M13RST
C0RST
C1RST
Y30
M5PLS
M13
M17PLS
M17
X24 M14
Y33
X25
Y33
X23
C2RST
M14
M8RST
M13RST
Y38
7)
Servo-on
control
ABS transfe
r
retry control
Servo alarm
detection,
alarm reset
control
Servo-on request
Reading A1SD75 1-axis RDY
signal
Masking RDY signal
Current position change
processing instruction
Current position change flag
Resetting ready
Resetting servo-on request
Resetting ABS transmission
counter at servo OFF
Resetting checksum
transmission counter at servo
OFF
Servo-on output
ABS interface start
Setting retry flag
Resetting retry counter
Alarm reset output
Error flag output
Resetting ready
Resetting servo-on request
Servo alarm
(To be continued)
(Continued from preceding page)
Processing instruction
Servo-on
request
Error
flag
Retry flag
set
Servo-on
request
Retry flag
reset request
Error flag
Alarm reset
Servo alarm
Servo-on
switch
RDY signal ON judgement
Servo-on
switch
Error reset
switch
Emergency stop
switch