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153
Program Example
R1
n+5 05
n+16 01
n+11 03
n+11 00
Preset the current
position in the
expansion data
area (I+6 and I+7).
OUT
(Preset the
current
position)
Busy Flag
Preset condition
Manual
Mode
Flag
Task
Error
Flag
Current Position
Preset Bit
Auxiliary
Area Bit
DIFU(13)
R1
n+5
05
6-5-23 Word n+5 Bit 06: ABS Initialization Bit (X-axis)
This bit reads absolute data from the absolute encoder and sets the current
value to zero. It will be enabled when turned ON, but the following restrictions
apply.
•
It must not be used within one second after turning ON servodriver control
power supply or main circuit power supply.
•
It cannot be used while a run command is being output to the servodriver. (An
error will occur.)
This command is normally used to correct the absolute position after the abso-
lute encoder has been replaced or set up. Once this bit has been turned ON,
processing will continue until completion even if the bit is turned OFF before
completion. Keep this bit ON, however, until the Busy Flag turns ON.
This command is ignored when the Busy Flag is ON. An error will occur if it is
executed during a servo lock. Processing will not be interrupted during execu-
tion of the command even if a deceleration stop command is executed. This
command has no effect on incremental operation.
Do not execute this command while system parameters are being downloaded.
Doing so may result in incorrect initial settings of the absolute encoder. Refer to
7-6 Setting Up the Absolute Encoder
for details.
Signal
Reads absolute data and sets the current value to 0 when this bit goes from OFF
to ON (up-differentiation).
Timing Chart
20 ms
min.
20 ms
min.
ABS Initialization Bit
(n+5 bit 06)
Busy Flag
(n+16 bit 01)
Current position
0
Interface Bit Specifics
Section 6-5
Содержание C200H-MC221 -
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