Panasonic MINAS A6 Series, Technical Reference

Page: 178 / 306

6.7Infinitely rotation absolute function
6-21
Operation example
The operation is as follows in the case of the deceleration ratio (m=50, n=4) where the turntable makes
4 turns when the motor makes 50 turns.
1. Set Pr0.15=4 and Pr6.88=49, and write to EEPROM.
2. Re-power on the driver control power (or execute the attribute C enable command).
3. The upper-limit value of the multi-turn data on the encoder side is automatically updated
when the driver is started up.
4. Err.92.3 "Multi-turn data upper-limit value disagreement error protection" occurs.
5. Re-power on the driver control power.
6. The multi-turn data upper-limit value is enabled and the actual position is generated as
shown in the figure below.
7. The host device reads the actual position, and initializes the command position.
8. Because the actual position wraps around at 2
23
x 50 - 1, allow for operation with the
EtherCAT command position wrapped around in agreement with this.
Since the multi-rotation data upper limit value is held inside the encoder, the procedure from step 6
above will be performed the next time the amplifier control power is turned on.