Omron CJ1W-MA - REV 10-2008, Operation Manual

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Absolute Encoder Origin Section 8-6
The following is an example for using a W-series Servo Drive.
Applicable Servomotors The following Servomotors with absolute encoders support this function.
OMRON G-series Servomotors
Model: R88M-G @ S/G @ T
OMRON W-series Servomotors
Model: R88M-W @ S/W @ T
The SMARTSTEP Junior Servo Drives cannot be used with motors with abso-
lute encoders.
8-6-2 Absolute Encoder Operating Procedure
The procedure for using an absolute encoder is as given below. The following
procedure is performed just once when using the absolute encoder for the first
time, when replacing the Servomotor, when the absolute encoder's battery
expires, or when another reason occurs that results in loss of absolute value
data.
1,2,3... 1. Set the Common Parameters and save them.
2. Set the Axis Parameters and save them.
3. Turn the PCU OFF and then ON again or restart the Unit.
The data for the Common Parameters and Axis Parameters set in steps 1
and 2 above are enabled.
4. Start MECHATROLINK communications.
MOV
MOV
CPU Unit
a+1
b
b+6
b+7
b+8
b+9
Input during I/O refresh
PCU
Pn002.2
d+3
M
PG
n+1
Output during I/O refresh
Output during I/O refresh
Pn808
WRITE DATA/SERVO
PARAMETER
CONNECT/SERVO LOCK
Common Operating Memory Area
Axis Operating Output Memory Areas
Axis Operating Input Memory Areas
Control status
Feedback present position
(rightmost word)
Feedback present position
(leftmost word)
Command present position
(rightmost word)
Command present position
(leftmost word)
n: Beginning word of Common Operating Memory Area: n = CIO 1500 + (unit number
×
25)
a = Beginning word of Axis Operating Output Areas specified in Common Para (Axis No.
−
1)
×
25
b = Beginning word of Axis Operating Input Areas specified in Common Para (Axis No.
−
1)
×
25
CONNECT Bit
(word n+1, bit 00)
SERVO LOCK
(word a+1, bit 00)
Use WRITE DATA to
transfer before
executing ORIGIN
SEARCH.
Use WRITE SERVO
PARAMETER to transfer
before executing ORIGIN
SEARCH.
Servo Drive
Axis Parameter Area
Encoder type
Function
selection
application
switch 2
Origin offset
Servomotor
Select the type of
encoder to be used.
Reading absolute
value data
+
+
Absolute encoder