Omron CJ1W-NC271 - 12-2009, Operation Manual

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Absolute Encoder Origin
Section 8-6
Executing SERVO LOCK
Absolute value data for the axis for which SERVO LOCK was executed is
read.
If the absolute encoder zero point offset or other offline parameter is set and
DEVICE SETUP is executed to enable the absolute encoder zero point offset
while continuing MECHATROLINK communications, the origin for that axis will
not be established. In that case, the absolute value data will be read again
and the origin will be established based on the new parameter setting by exe-
cuting SERVO LOCK.
Note (1) Parameters that are not saved in the non-volatile memory built into the
Servo Drive will be lost when DEVICE SETUP is executed. If data must
be saved to the non-volatile memory, execute SAVE SERVO PARAME-
TER first.
(2) The set data will be overwritten with the present position data of the Servo
Drive when PRESENT POSITION PRESET is executed. To read the ab-
solute value data again, turn OFF and ON again the power supply of the
Servo Drive or execute DEVICE SETUP for a G5-series Servo Drive or
G-series Servo Drive, and start MECHATROLINK communications or ex-
ecute SERVO LOCK for a W-series Servo Drive.
CONNECT Bit (word n+1, bit 00)
Present Position Preset (word a, bit 08)
SERVO UNLOCK (word a+1, bit 01)
SERVO LOCK (word a+1, bit 00)
Connection Status Flag (word n+16, bit 15)
Busy Flag (word b, bit 13)
Positioning Completed (word b, bit 05)
n = Beginning word of Common Operating Memory Area: n = 1500 + (unit number
×
25)
a = Beginning word of Axis Operating Output Memory Areas specified in Common Para (Axis No.
−
1)
×
25
b = Beginning word of Axis Operating Input Memory Areas specified in Common Para (Axis No.
−
1)
×
25
DEVICE SETUP (word a +1, bit 11)
Preset data
Rereading absolute value data
Once the connection has been established, the zero point position offset will be set, and the
origin will not be established (the No Origin Flag will be OFF) if the offset is enabled using the
device setup while continuing MECHATROLINK communications. Then, the absolute value
data will be read again and the origin updated with the set present position offset will be
established by executing SERVO LOCK.
No Origin Flag (word b, bit 06)
Servo ON (word b+1, bit 03)
Command Present Position (words b+8, b+9)
Feedback Present Position (words b+6, b+7)
Absolute
value data
Absolute
value data
Rereading absolute
value data
Rereading absolute
value data
Preset data
Rereading absolute value data