149
Functions Compatible with Servo Drivers with Absolute Encoders
Section 7-8
7-8-10 Overview of Absolute Encoder Output Data Acquire
Behavior of the Servo
Driver with an Absolute
Encoder
The SEN signal being turned ON, the servo driver behaves in the following
manner:
1.
The servo driver transmits the state of the absolute encoder when the SEN
is turned ON.
The operation proceeds in the following order:
a) Transmits the multi-turn data (how many revolutions rotary encoder
made) with the serial method.
b) Transmits the initial incremental pulse (difference between present po-
sition and origin) with phase-difference pulse output.
2.
After transmitting the absolute value data, transmits the pulse train corre-
sponding to the rotational displacement. (Transmits the same pulse as an
incremental encoder)
Absolute Encoder Output
Data Acquiring Method
To acquire the absolute encoder output data of the servo driver with the unit
(CS1W-HCA12-V1), follow the procedure below:
■
Step 1 (Required) “Various Settings”
Setting "Pulse Input Method"
The pulse input method has to be set. It can be set in "pulse input method
(DM 6605 bit 00 to 03)" in the unit setup area. It can be selected from the fol-
lowing 5 methods:
Phase-difference input with multiplications 1, 2, or 4, increment/decrement
pulse input, and pulse + direction. Set this to the phase-difference input.
Setting "Input Pulse Frequency"
The input pulse frequency has to be set to 200 kHz. To do so, set "input pulse
frequency (DM 6605 bit 08 to 11)" in the unit setup area to 1 Hex.
Setting "Counting Mode"
"High-speed counter 1 operating mode (DM 6605)" in the unit setup area has
to be set. The mode for counting the encoder output has to be selected from
the following:
• ABS linear (CW
-
) mode (DM 6605 bit 12 to 15: 2 Hex)
AR 09
05
ABS encoder input com-
mands
ABS offset
preset
0: No preset
0 to 1: Offset value obtained from
multi-turn data from servo driver
and the No. of initial incremental
pulses are stored in ABS offset
value (DM 6645/6646). When
defining machine origin, difference
between machine and encoder's
origins is preset to DM 6645/6646
as ABS offset value.
User
Enabled
06
ABS PV
preset
0: ABS PV preset invalid
0 to 1: At this point, "ABS PV" is
stored in high-speed counter PV 1
(AR 00 to 01).
07
ABS No.
of rota-
tions read
0: No. of rotations data read from
servo driver invalid
1: At the rise, SEN is output to
servo, and multi-turn data is
received at phase A input.
Address
Bits
Function
Details
Controlled
by
Forced
set/reset
Summary of Contents for CS1W-HCA12-V1
Page 2: ......
Page 6: ...vi...
Page 20: ...xx Conformance to EC Directives 7...
Page 38: ...18 Models and System Configurations Section 1 2...
Page 78: ...58 Fail safe Circuits Section 3 5...
Page 138: ...118 AR Area Section 6 4...
Page 204: ...184 Improved Instructions Section 7 14...
Page 222: ...202 Cycle Time Section 8 3...
Page 240: ...220 Troubleshooting Flowcharts Section 9 5...
Page 244: ...224 Precautions when Using the CX Programmer Appendix A...
Page 252: ......
Page 253: ......