Omron 8U0108-E1-01, User Manual

Page: 153 / 333

XtraDrive User Manual Chapter 5 : Parameter Settings and Functions
5-85
The final absolute data P
M
can be found by using the following
formulas:
Forward rotation
mode:
P
E
= M x R + P
O
P
E
= -(M x R) + P
O
P
M
= P
E
- P
S
Reverse rotation
mode:
(Pn0000.0 = 1)
P
M
= P
E
- P
S
Where: P
E
= The current value read by the encoder.
M = The multi-turn data (rotation count data).
P
O
= The number of initial incremental pulses.
P
S
= The number of initial incremental pulses read at setup.
(This is saved and controlled by the host controller).
P
M
= The current value required for the user’s system.
R = The number of pulses per encoder revolution.
(Pulse count after dividing by the value of Pn201)
Absolute Encoder Transmission Sequence
1. Set the SEN signal at high level.
2. After 100ms, set the system to serial data reception-waiting-state.
Clear the incremental pulse up/down counter to zero.
3. Receive eight bytes of serial data.
4. The system enters a normal incremental operation state
approximately 50ms after the last serial data is received.