Panasonic MADHT1105, Operating Instructions Manual

Page: 315 / 394

7-19
1
Before
Using
the
Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When
in
Trouble
7
Supplement
Composition of Absolute Data
Absolute data consists of singe-turn data which shows the absolute position per one
revolution and multi-turn data which counts the number of revolution of the motor after
clearing the encoder.
Single-turn data and multi-turn data are composed by using 15-character data (hexadeci-
mal binary code) which are received via RS232 or RS485.
Single-turn data
CW
origin
CCW
–1 0 0 1 1 2
131071 0,1,2 … … 13107 1 0,1,2 131071 0,1,
Multi-turn data
Motor rotational direction
• Details of multi-turn data
65535
CW 0 CCW
Error
Absolute counter over
error protection
Normal Error
Multi-turn data
0Bh
Axis address
D2h
03h
11h
Encoder status (L)
Setup value of Pr5.31 “Axis address”.
Encoder status (H)
Single-turn data (L)
Single-turn data (M)
Single-turn data (H)
Multi-turn data (L)
Multi-turn data (H)
00h
Error code
Checksum
Becomes to 0 when the communication is
carried out normally. If not 0, capture the
absolute data from the driver again
Received
absolute data
(15 characters)
Remarks
If the multi-turn data of the above fig. is between 32768 to 65535, convert it to signed
date after deducting 65536.
2. Absolute system
Transferring absolute data
Single-turn data Single-turn data (H)×Single-turn data (M)×100h+Single-turn data (L)
multi-turn data multi-turn data (H) ×100h+multi-turn data (L)