FX1S Datasheet, PDF (349/480 Pages) Mitsubishi Electric Semiconductor – FX1S

ÑÏÅÖÈÀËÜÍÛÅ FNC-ÈÍÑÒÐÓÊÖÈÈ
ÈÍÑÒÐÓÊÖÈÈ ÏÎÇÈÖÈÎÍÈÐÎÂÀÍÈß (FX1S/FX1N)
7.6.6
ÏÐÈÌÅÐ
×ÒÅÍÈÅ ÀÁÑÎËÞÒÍÎÉ ÒÅÊÓÙÅÉ ÏÎÇÈÖÈÈ (DABS)
DABS
FNC 155
ABS (S+) (D1+) (D2+)
×òåíèå àáñîëþòíîé òåêóùåé ïîçèöèè
CPU
FX1S
FX1N FX2N FX2NC
©
©
S+
X, Y, M, S
D1+
Y, M, S
D2+
Èìï. èíñòðóêöèÿ (P) Îáðàáîòêà Øàãè ïðîãðàììû
KnY,KnM, KnS, T,
C, D, V, Z
16 Bit 32 Bit
© ^DABS
13
ÔÓÍÊÖÈß
Ñ ïîìîùüþ ýòîé èíñòðóêöèè ìîæåò âîñïðèíèìàòüñÿ àáñîëþòíàÿ ïîçèöèÿ MITSUBISHI
ñåðâîóñèëèòåëåé òèïà MR-H èëè ÌR-J2. Ñåðâîïðèâîä äîëæåí áûòü íàñòðîåí íà ðàáîòó ñ
àáñîëþòíûì äàò÷èêîì.
ÎÏÈÑÀÍÈÅ
b ABS-èíñòðóêöèÿ ÿâëÿåòñÿ 32-õ áèòíîé èíñòðóêöèåé. Ïîýòîìó âñåãäà óêàçûâàéòå åå êàê
“DABS”.
b ×òåíèå ïîçèöèè íà÷èíàåòñÿ, åñëè âûïîëíåíî ñòàðòîâîå óñëîâèå ABS-èíñòðóêöèè. Ïðè
îêîí÷àíèè ÷òåíèÿ âêëþ÷àåòñÿ ìåðêåð Ì8029. Åñëè âî âðåìÿ ÷òåíèÿ ñòàðòîâûå óñëîâèÿ
îòêëþ÷àþòñÿ, ïðîöåññ ÷òåíèÿ ïðåêðàùàåòñÿ.
b Ïðè ïðîåêòèðîâàíèè íóæíî ñëåäèòü çà òåì, ÷òîáû ñåðâîóñèëèòåëåé âêëþ÷àëñÿ ðàíüøå
èëè îäíîâðåìåííî ñ ÏÊ.
b Àáñîëþòíàÿ ïîçèöèÿ çàíîñèòñÿ â îïåðàíä, êîòîðûé óêàçàí â D2+. Îí ìîæåò áûòü ñëîâíûì
îïåðàíäîì. Îäíàêî ïîçäíåå ýòî çíà÷åíèå äîëæíî ïåðåäàâàòüñÿ â ïðîãðàììå â
ñïåöèàëüíûå ðåãèñòðû D8141 è D8140.
b Ñòàðòîâûå óñëîâèÿ ABS-èíñòðóêöèè äîëæíû áûòü âêëþ÷åíû âñåãäà, òàêæå è ïîñëå
âîñïðèÿòèÿ ïîçèöèè. Åñëè ñòàðòîâûå óñëîâèÿ ïîñëå ïðî÷òåíèÿ ïîçèöèè ñòàíóò
íåäåéñòâèòåëüíûìè, îòêëþ÷èòñÿ ñèãíàë “Servo-ON” (SON) è ïðèâîä îñòàíîâèòñÿ.
b Òàêæå, åñëè ñåðâîïðèâîä ñìîæåò âîñïðèíÿòü àáñîëþòíóþ ïîçèöèþ, ïîñëå âêëþ÷åíèÿ
ïðèâîäà äîëæåí âûïîëíÿòüñÿ âîçâðàò â èñõîäíîå ïîëîæåíèå.
ABS-èíñòðóêöèè
M0
[S +] [D1+] [D2+]
DAB S X000 Y 004 D8140
Ðèñ. 7-69.
Ïðèìåð ïðîãðàììèðîâàíèÿ
ABS-èíñòðóêöèè
C000400C
Ħ
Ïðîãðàììèðîâàíèå FX1S/FX1N/FX2N/FX2NC
7 – 77