Panasonic MINAS A6 Series, Technical Reference

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6.7Infinitely rotation absolute function
6-19
6.7 Infinitely rotation absolute function
This function allows you to set any upper limit value for absolute encoder multi-turn data.
With this function, it is possible to determine the turn angle (position) of a turntable and such other
applications, even in the case of continuous turn in one direction.
In addition, because this is an absolute encoder, the home position return after the power is re-powered
on is unnecessary.
Applicable range
This function cannot be applied unless the following conditions are satisfied.
Operating conditions for continuous rotating absolute encoder function:
Control Mode

Position control, Velocity control, Torque control
Others

The encoder is a 23 bit resolution absolute encoder.

The following equation holds and the solution is an integer:
Command position per turn of turntable =
Encoder resolution (2
23
) / electronic gear ratio / reduction ratio (n/m)
* Reduction ratio is an integer less than or equal to (2
31
-1).

The elements other than control parameters are correctly set, assuring that the motor can run smoothly.
Relevant parameters

Relevant parameters
Class No. Attribute Title Range Unit Function
0 15 C Absolute encoder
setup 0 to 4 - Select the use method of the absolute encoder. (Note 1)
0: Use as an absolute mode.
1: Use as an incremental mode.
2: Use as an absolute mode, but ignore the multi-turn counter over.
3: Use as an absolute mode, but not use multi-turn counter.
(single-turn absolute mode)
4: Use as an absolute mode, but any value can be set for the upper
limit of the multi-turn counter, and ignore the multi-turn counter
over.(Countinuous rotating absolute mode)
6 88 C Absolute encoder
multi-turn data
upper-limit value 0 to
65534 - Set the upper-limit value for absolute encoder multi-turn data when
Pr0.15 is set to 4.
When the multi-turn data is more than the value set for this
parameter, the multi-turn data changes to 0.
When the multi-turn data falls below 0, multi-turn data will change to
the set value.
When set to Pr0.15 = 0 or 2(absolute mode), the upper limit of the
absolute rotation data becomes 65535, regardless of this setting.
This setting will become invalid when Pr0.15 is set to 1 or 3.
When Pr0.15 is set to 4, Pr6.88=0 makes a motion equivalent to
that of Pr6.88=1.
(Note 1) Handled as an incremental system (Set value =1) in internal control under full-closed control.