Omron CS1W-MC221 -, Operation Manual

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Interface Specifics Section 5-4
Timing Chart
Absolute Origin Set Bits
These bits set the mechanical origin for axes using an absolute encoder.
Operation depends on whether the servo is locked or unlocked.
Servo-unlock Status
The absolute position is read from the encoder, the absolute position read
from the encoder is stored as the absolute position in the system parameters
(machine specification parameters), and the present position in the MC Unit is
set to 0. The current system parameters are then saved in non-volatile mem-
ory.
Servo-lock Status
The present position in the MC Unit is stored as the absolute position in the
system parameters (machine specification parameters), and the present posi-
tion in the MC Unit is set to 0. The current system parameters are then saved
in non-volatile memory.
Incremental Encoder
If an incremental encoder is being used, the current system parameters are
saved in non-volatile memory and nothing else is performed.
Timing
An Absolute Origin Set Bit is ignored when the Busy Flag is ON.
Keep the bit ON until the Busy Flag turns ON.
Note Do not execute this command while system parameters are being down-
loaded. Doing so may result in an incorrect setting of the mechanical origin.
Forced Origin Bit
(n + 7, 05/n+11, 05)
Busy Flag
(n+22, 01/n+38, 01)
Present Position
(n+20, n+21/n+36, n+37)
No Origin Flag
(n+22, 03/n+38, 03)
Word Axis Bit I/O Valid mode
MC221 MC421
n+7 n+11 X axis 06 Output Manual
n+9 n+13 Y axis
--- n+15 Z axis
--- n+17 U axis
Signal Function
↑
Sets the absolute origin.