97
Because it can only rotate in one direction, after a certain period of time, the number of revolving cycles will
always exceed the upper limit of absolute value encoder.
Servo motor
series
Resolution
(single-circle
data)
Rotating Circle
Serial Data
Output range
Operation of overtime
CM/T
17
-32768~32767
When it is higher than the upper limit value
in the forward direction (+32767*2^ 17):
Rotation serial data = 32767*2^17
When it is below the lower limit of reversal
direction (-32768*2^ 17):
Rotation Serial Data=-32767*2^17
TL
23
When it is higher than the upper limit value
in the forward direction (+32767*2^23):
Rotation serial data = 32767*2^23
When it is below the lower limit of reversal
direction (-32768*2^ 23):
Rotation Serial Data=-32767*2^23
4.7.4 Read absolute position through communication
Basic parameters
User
parameter
Name
Use
U0-10
encoder feedback value
Absolute value single-turn position, read 0x100A and
0x100B hexadecimal address through Modbus RTU,
U0-10+ U0-11*10000 is present encoder single-turn
position
U0-11
U0-91
present turns of multi-turn
absolute
Read 0x105F hex address through ModbusRTU, which
is the current number of encoder turns;
U0-57
absolute
encoder
present
position feedback low 32-bit
Read 0x1039 hex address through ModbusRTU
doubleword, which is the current encoder position, with
positive and negative pulses;
U0-58
U0-59
absolute
encoder
present
position feedback high 32-bit
Read
0x103B
hexadecimal
address
through
ModbusRTU doubleword, which is the high bit of
current encoder and needs to add the low bit data;
U0-60
Servo driver transmits position data information of encoder through RS485 port and Modbus RTU protocol.
◼
17-bit absolute value encoder has 131072 pulses per cycle.
First read the U0-60 (0x103C) value
(1) 0 means running in the positive direction. The current position of the encoder is U0-57*1+U0-58*2^16.
(2) -1 means running in the opposite direction. The current encoder value is:
(U0-57-65535)*1+(U0-58-65535)*2^16+(U0- 59-65535)*2^32.
