C.2 Absolute Encoder Setup (Initialization)
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C.2 Absolute Encoder Setup (Initialization)
The Adjusting (ADJ: 3EH) command can be used to setup (initialize) the absolute encoder.
The setup procedure is outline below.
Be sure to turn the power OFF then ON again after the encoder setup.
1. By setting byte 1 of the MECHATROLINK-II command field to ADJ (3EH) and byte 2
to 00H, the following command field can be set.
2. Send the following data setting commands in each command field.
Set “01H” (Data setting) in the CCMD field.
Set “2000H” in the CADDRESS field.
Set “1008H” in the CDATA field.
3. After setting the data, send the command.
Confirm that the response is correct and that CMDRDY of STATUS is set to 1.
The absolute encoder will enter the Setup Mode.
4. Continue by using the following data setting command.
Set “01H” (Data setting) in the CCMD field.
Set “2001H” in the CADDRESS field.
Set “02H” (Save) in the CDATA field.
5. After setting the data, send the command.
Confirm that the response is correct and that CMDRDY of STATUS is set to 1.
6. Send the following command.
Set “01H” (Data setting) in the CCMD field.
Set “2001H” in the CADDRESS field.
Set “01H” (Execute) in the CDATA field.
7. After setting the data, send the command. Approximately 2 seconds after sending, con-
firm that the response is correct and that CMDRDY of STATUS is set to 1.
This completes setting up the absolute encoder. Turn the power OFF then ON again to con-
firm that the SERVOPACK will start up normally.
Command
Response
5
CCMD
CANS
CCMD: Serial communications command
CANS: Serial communications answer
CADDRESS: Setting/reference address
CDATA: Setting/reference data
6
CADDRESS CADDRESS
7
8
CDATA
CDATA
9
INFO
