Shihlin SDH Series, Manual

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Chapter 14.
(5)Home returning
Please perform home setting as following conditions.
(a) set up absolute system.
(b) Replace the servo drive.
(c) Replace the servo motor.
(d) When absolute position lost occurs [AL.2C absolute encoder error 3]alarm
When setting the absolute position system, users can establish absolute coordinate position by home setting.
With no home setting and operate the motor, an unexpected action will occur.
14.2.3 Use Digital Inputs/Outputs to Initialize an Absolute System
：
Initialize an absolute system by DI/DO method or writing PA29 parameter. Please do homing to initialize absolute
coordinates in Pr mode.
Move the motor to home place, enable digital input, ABSE, then enable digital input, ABSC from OFF to ON, and
the system will start to initialization. The pulse number will be set to zero. Please refer to Figure below for the signal
controlling chart.
Ts(ms) Tq(ms)
Min PD15 + 2
Max PD15 + 10
The descriptions for the timing
：
1.When the host controller switches ABSE from OFF to ON, a period of time Ts have to be waited for the next step
to process.
2.After waiting time Ts, the host controller now can enable the ABSC from OFF to ON and hold the signal for TQ to
reset the coordinate system where pulse number will be zero.
14.2.4 Use Parameters to Initialize an Absolute System
Initialize an absolute system by panel operation or writing PA29 parameter. When 1 was written into PA29, absolute
coordinates will initialize immediately. Please do homing to initialize absolute coordinates in Pr mode.
Bit79 ~ Bit64 Bit63 ~ Bit32 Bit31 ~ Bit16 Bit15 ~ Bit0
Check Sum
Encoder pulse within one turn
0 ~ 4194304 (22bit Encoder)
Encoder turn
-32768 ~ +32767
PA30 Encoder status
Explanation ：