User Manual of EL6-CAN AC Servo
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106
Install battery
Set
Pr0.15=1
Home process
Finishing
Return to home
position
，
set
Pr0.15=9
Read absolute
position
YES
NO*
*Note
：
The newly installed encoder is not
initialized and will alarm
2
、
Read absolute position
The absolute encoder counting mode is that when the motor rotates clockwise, the number of turns is
defined as negative, while motor rotates counterclockwise the number of turns is defined as positive. The
maximum rotation number is -32768 to +32767. After the number of turns is out of range, if the number of
turns is 32767 counterclockwise, it will reverse to -32768, -32767... ; If the number of turns clockwise -32768,
it will reverse to 32767, 32766...
Absolute encoder read mode: read 6064h data object
3
、
Clear absolute position
Before clear absolute position, the machine needs to return to the home point. After clear absolute
position, the absolute position =0, the single-turn position remains unchanged, and the absolute value of the
encoder is cleared to alarm
Set Pr0.15=9: multi-turn zero clearing and reset multi-turn alarm, open multi-turn absolute function. It
will become 1 when normal clearance, if it’s still 9 after 3seconds, please deal with according to 153 alarm
processing. Please remember to do mechanical homing.
6.15.3 Alarm
1
、
Introductions
The multi-turns absolute encoder alarm function can determine whether the absolute encoder is valid or
not, such as battery under voltage or power failure, encoder fault, etc., users can judge the absolute encoder
alarm through bus alarm output, IO alarm output, and drive operation panel alarm. At this time, the controller
should stop operation immediately, and the absolute motion operation can only be carried out after the alarm is
eliminated
2
、
Alarm output
Absolute encoder alarm can be displayed by the panel Err153, IO output alarm signal, or read alarm
information by communication
3
、
The drive sends an absolute encoder alarm Err153, the main situation is as follows:
