Omron CJ1W-MA - REV 10-2008, Руководство по эксплуатации

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Absolute Encoder Origin Section 8-6
3. Confirm the feedback present position in the Servo unlocked state and set
the origin position offset based on this present position. When the Servo is
locked, the present position may oscillate, or deviation will accumulate in
the Servo Drive, which may prevent the correct set value from being ob-
tained for the origin position offset, causing displacement of the origin.
4. Reverse the sign of the value for the feedback present position read in step
3 and write this value in
Absolute Encoder Zero Point Position Offset
(Pn808). Use SAVE SERVO PARAMETER to write the value to the Servo
Drive's non-volatile memory.
5. Execute DEVICE SETUP or turn the power to the Servo Drive OFF and
then ON again.
The absolute encoder origin position offset that has been set is now enabled.
When Absolute Origin Offset for G Series (Pn200) or Absolute Encoder Zero Point Position Offset for
W Series (Pn808) = Not 0
When the Absolute Origin Offset for G Series (Pn200) or Absolute Encoder
Zero Point Position Offset for W Series (Pn808) is set to a value other than 0,
such as when replacing the Servomotor, use either of the following methods
to set the origin position offset.
Method 1: First set the origin position offset to 0 (set Absolute Origin Offset for
G Series (Pn200) or Absolute Encoder Zero Point Position Offset
for W Series (Pn808) to 0) using SAVE SERVO PARAMETER), and
then set it according to the setting method for when Pn808 is 0.
Method 2: Use the above setting method for when the absolute encoder zero
point position offset is 0, and calculate the set value in step 4 using
the following equation.
New zero point position offset value = Present zero point position
offset value
−
Feedback present position
Note There is a limit to the number of times non-volatile memory in the Servo Drive
can be written (10,000 times). Do not save
Absolute Origin Offset (Pn200) for
G Series or Absolute Encoder Zero Point Position Offset (Pn808) for W Series
too frequently.
Setting the Absolute Encoder Zero Point Position Offset Using an Origin Search Operation
The Absolute Origin Offset for G Series (Pn200) and Absolute Encoder Zero
Point Position Offset for W Series (Pn808) can be automatically set at the end
of an origin search by executing the origin search with the following operation
pattern with a Position Control Unit with unit version 2.0 or later.
Operation pattern: Reversal mode 1
Origin detection method: Origin proximity input signal reversal, No origin
proximity input signal reversal, or Do not use origin proximity input signal
To enable setting the absolute encoder zero point position offset with an origin
search operation, the following axis parameter settings must be used with the
above origin search operation pattern.
Origin search preset: Set.
Encoder type: Absolute Encoder