8-13
8 Homing
NJ-series CPU Unit Motion Control User’s Manual (W507)
8-4 H
o
m
ing
with an
Abso
lute Enco
der
8
8
-4-1
Outline of Fu
nction
To define home with an absolute encoder system, the absolute encoder offset compensation is per-
formed when the MC_Power (Power Servo) instruction is executed. Home can also be defined by per-
forming a homing operation in the same way as for an incremental encoder. After home is defined, the
difference between the command position and the absolute value data read from absolute encoder is
saved to the battery-backup memory in the CPU Unit as the absolute encoder home offset.
The Absolute Encoder Origin Position Offset axis parameter is also set to the difference (i.e., the offset)
between the command position after defining home and the absolute value when the MC_Home (Hom-
ing) instruction is executed. The MC Function Module automatically saves the absolute value encoder
home offset to the battery-backup memory in the CPU Unit. You do not have to perform a save opera-
tion from the Sysmac Studio.
Precautions for Correct Use
Precautions for Correct Use
•
If you replace the CPU Unit or the Battery in the CPU Unit, make sure home is defined and
back up the battery-backup memory before you start the replacement procedure. This ensures
that the absolute encoder home offset is backed up.
•
You can restore the backed up data after finishing the replacement procedure to use the home
that was previously defined.
•
Use the Sysmac Studio to back up and restore the data.
Refer to the
Sysmac Studio Version 1 Operation Manual
(Cat. No. W504) for specific proce-
dures.
A list of Servomotors that can connect to the MC Function Module is provided below.
Connect the Servo Drive correctly according to information in the
NJ-series CPU Unit Built-in EtherCAT
Port User’s Manual
(Cat. No. W505).
This section describes the procedure to set the home of an absolute encoder system.
1
Absolute Encoder Setup
Refer to the
OMRON G5-series AC Servomotors/Servo Drives with Built-in EtherCAT Communi-
cations User's Manual
(Cat. No. I576) for the setup procedure.
2
Setting Axis Parameters
Set
encoder type
for the Count Mode axis parameter of the MC Function Module. For details,
refer to
8-4-1
Outline of Function
Applicable Servomotors
Manufacturer
Series
Servo Drive
Servomotor
OMRON
G5 Series
R88D-KN
@@@
-ECT
R88M-K
@@@@@
S
R88M-K
@@@@@
T
R88M-K
@@@@@
C
Connecting the Servo Drive
8-4-2
Setting Procedure
Summary of Contents for NJ501-1300
Page 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Page 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Page 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Page 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Page 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Page 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Page 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Page 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Page 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Page 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Page 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Page 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Page 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...