User manual of EL8-EC***F AC Servo
168
13
、
d21AE Single turn encoder data d22rE Multiturn encoder data
D21 AE
S
.
8
.
A10748
◀
Press
▲▼
to switch between external and motor encoder.
A :
motor
，
F
: external
Press
◀
to switch
between high/low bit
Single turn encoder
data – low bit
Single turn encoder
data – high bit
Example: Single turn
encoder data = 8410748
For 23-bit encoder, single turn encoder data = 0~8388607.Each value corresponds to
certain position in a single revolution of the rotor, clockwise motion as negative, counter
clockwise motion as positive. When counter clockwise single turn data > 8388607, multiturn
data +1, clockwise single turn data < 0, multiturn data -1.
D22 rE
S
.. 2
0
Example: Motor starts from
0 and turns clockwise for 2
revolutions
Multiturn data -2
Multiturn encoder data
Multiturn encoder data range:-32768~+32767, As no. of revolution goes over range,32767 will
jump to -32768
、
-32767(counter clockwise)
；
-32768 will jump to 32767
、
32766 (clockwise)
14.d23id 485 received frame
485 correct received
frame rates
D23 id
S
id 0
485 wrong received
frame rates
F 0
15. d24PE Position deviation
D24 PE
S
.
8
.
A 748
◀
Example: Position
deviation = 810748
Press
◀
to switch
between high/low bit
Single turn encoder
data – low bit
Single turn encoder
data – high bit
Press
▲▼
to switch between external and motor encoder.
A :
motor
，
F
: Full closed loop (command unit) ,
H
: Full closed loop (encoder unit)
