8 Homing
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NJ-series CPU Unit Motion Control User’s Manual (W507)
3
Execute Homing
Execute homing. Set the Homing Method in the Homing Settings axis parameters of the MC
Function Module. After home is defined, the difference between the command position and the
absolute value data read from the absolute encoder is automatically saved to the battery-
backup memory in the CPU Unit as the absolute encoder home offset.
The absolute encoder must be set up the first time it is used, to initialize the rotation data to 0, when the
absolute encoder is stored for an extended period of time without a battery connected, etc. Refer to the
OMRON G5-series AC Servomotors/Servo Drives with Built-in EtherCAT Communications User's Man-
ual
(Cat. No. I576) for the setup procedure.
Precautions for Correct Use
Precautions for Correct Use
After the absolute encoder is set up, the power supply to the OMRON G5-series Servo Drive
must be cycled. When setup processing for the absolute encoder is completed, an Absolute
Value Clear Error (A27.1) will occur in the Servo Drive. Cycle the control power supply to the
Servo Drive to clear this error and complete the absolute encoder setup procedure.
If you set the Count Mode axis parameter to Rotary Mode, the actual position will be a ring-shaped
counter in the range between the modulo maximum position setting value and the modulo minimum
position setting value. When using an absolute encoder in Rotary Mode, the absolute encoder home
offset is automatically calculated and updated in the MC Function Module each motion control period.
The updated absolute encoder home offset is automatically saved to the battery-backup memory in the
CPU Unit when the power supply to the Controller is turned OFF. This enables recovering the actual
position of a rotating axis from the absolute encoder the next time power is turned ON even if the power
to the CPU Unit or Servo Drive is turned OFF.
Absolute Encoder Setup
Using an Absolute Encoder in Rotary Mode
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...