80
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
5.11.4 Read absolute position through communication
Basic parameters
User
parameter
Name
Use
U0-10
encoder feedback value
Absolute value single-loop position, read 0x100A
hexadecimal
address
through
Modbus
RTU
double-word, which is the current encoder single-loop
position;
U0-11
U0-91
present circles of multi-loop
absolute
The hexadecimal address of 0x105F is read by Modbus
RTU double word, which is the current encoder position.
U0-57
absolute
encoder
present
position feedback low 32-bit
The hexadecimal address of 0x1039 is read by Modbus
RTU double word, which is the current encoder position
with positive and negative pulses.
U0-58
U0-59
absolute
encoder
present
position feedback high 32-bit
The hexadecimal address of 0x1041 is read by Modbus
RTU double word, which is the high position of the
current encoder, low bit data is needed.
U0-60
F1-06
Clear the absolute encoder
circles
Write 1 to the hexadecimal address of 0x2106 through
Modbus RTU to clear the cycles (servo BB status takes
effect, and write 0 to 0x2106 after clearance);
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 (0x1041) 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.
If the position is read by XINJE HMI and the U0-57 (Modbus address is decimal 4153) double-word is
read, the high-low byte exchange should be selected. If communicating with Xinje PLC, direct
double-word reading is ok.
23-bit absolute value encoder, one-cycle pulse number is 8388608.
