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(b) An I/O module is used for communication (data read/write) with the servo amplifier
capable of processing the absolute positions.
When using the Z.ABRST, prepare the input/output with the following number of points, for each axis, for
communication with the servo amplifier.
• Input: 3 points
• Output: 3 points
Refer to Page 563, Section 12.6 for wiring of I/O signals.
(c) The Z.ABRST instruction completion can be confirmed using the complete
devices ((D)+0) and ((D)+1).
Complete device ((D)+0): This device is turned ON by the END processing of the scan for which Z.ABRST
instruction is completed, and turned OFF by the next END processing.
Complete state display device ((D)+1): This device is turned ON and OFF according to the state in which
Z.ABRST instruction is completed.
• When completed normally: Kept unchanged at OFF.
• When completed abnormally: This device is turned ON by the END processing of the scan for which
Z.ABRST instruction is completed, and turned OFF by the next END processing. (same ON/OFF
operation as complete device).
Program
Z.ABRST
instruction
Complete device
Complete state display
device
The completion of absolute position restoration can be confirmed using the ((S)+4) "status".
(d) Using the Z.ABRST instruction, the absolute position restoration is carried out in
the following procedure.
Execute the Z.ABRST
Other than "0"
622
END processing
END processing
ON
OFF
OFF
OFF
Start
Output the ((S)+3) data.
Set the data in ((S)+2).
instruction.
Is ((S)+4) "0"?
0
End
Z.ABRST
instruction
execution completion
Output the servo ON, ABS transfer mode, and ABS request
flag to the output module using the program.
Set the ABS data bit 0/bit 1 and transmission data
READY flag using the program.
END processing
END processing
ON
When
completed
ON
abnormally
When completed
normally
1 scan
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Troubleshooting
