SMC Networks LECYU Series, Operation Manual

Page: 140 / 250

4 Operation
4-41
4.7.7 Absolute Encoder Origin Offset
If using the absolute encoder, the positions of the encoder and the offset of the machine coordinate system
(APOS) can be set. Use Pn808 to make the setting. After the SENS_ON command is received by MECHA-
TROLINK communications, this parameter will be enabled.
Pn808
Absolute Encoder Origin Offset
Position
Classification
Setting Range Setting Unit Factory Setting When Enabled
-1073741823 to
1073741823
1 reference unit 0 Immediately Setup
<Example>
If the encoder position (X) is set at the origin of the machine coordinate system (0), Pn808 = X.
Machine coordinate
system position
(APOS)
4.7.8 Absolute Data Reception Sequence
The sequence in which the DRIVER receives outputs from the absolute encoder and transmits them to host
controller is shown below.
(1) Outline of Absolute Data
The serial data, pulses, etc., of the absolute encoder that are output from the DRIVER are output from the
PAO, PBO, and PCO signals as shown below.
Signal Name Status Contents
PAO
At initialization
Rotational serial data
Initial incremental pulses
Normal Operations Incremental pulses
PBO
At initialization Initial incremental pulses
Normal Operations Incremental pulses
PCO Always Origin pulses
・
Phase-Z Output Specifications
The pulse width of phase Z (origin pulse) changes depending on the encoder output pulse (Pn212),
becoming the same width as phase A.
The output timing is one of the following.
• Synchronized with the rising edge of phase A
• Synchronized with the falling edge of phase A
• Synchronized with the rising edge of phase B
• Synchronized with the falling edge of phase B
Note: When host controller receives the data of absolute encoder, do not perform counter reset using the
output of PCO signal.
Driver
PC or PLC
etc.