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Functions Compatible with Servo Drivers with Absolute Encoders
Section 7-8
• ABS linear (CW+) mode (DM 6605 bit 12 to 15: 4 Hex)
• ABS ring mode (DM 6605 bit 12 to 15: 3 Hex)
Also, set "high-speed counter 1 operating mode (DM 6605)" in the unit setup
area corresponding to the setting of reverse rotation mode on the servo driver.
Setting "ABS Resolution"
Set the number of pulses for the encoder's 1 revolution received from the
servo driver.
Make sure to set the resolution considering both the servo driver's "encoder
dividing rate setting" and the unit's "pulse input multiplication setting ("pulse
input method" in the unit setup area) (DM 6605 bit 00 to 03)".
Ex) “On servo driver: dividing rate of 1000, on the unit: with multiplication of
4”: FA0 (4000)
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Step 2 (Required)
“Acquiring the Data on the Encoder's Status at when the SEN Signal Is
Turned ON”
Turn ON "ABS number of rotations read flag (AR 09 bit 07)" using the ladder
program.
When it is turned ON, the SEN signal also turns ON (high level). (Leave it ON
during operations as well as the RUN signal.) After a certain period has
passed (servo's output is stabilized), turn ON "high-speed counter start flag
(AR 09 bit 00)" using the ladder program. At the same time, the data on the
encoder's status (multi-turn data) when the SEN signal was turned ON is
received by serial data. After the serial data completes the reception of the
multi-turn data, "ABS number of rotations read completed flag (AR 08 bit 05)"
turns ON. If a reception error occurs at this point, "ABS number of rotations
read completed flag (AR 08 bit 05)" and "ABS number of rotations acquire
error flag" turns ON. In this case, the received data will be destroyed.
■
Step 3 (as Needed)
“Origin Compensation (ABS Offset Preset)”
Encoder's position at the time is defined as an origin using ABS offset preset
function.
With ABS offset preset function, storing the present value that will be
defined as an origin by computing "ABS number of rotations present
value (AR 04 to 05) and the number of initial incremental pulses (AR 00 to
01)" to "ABS offset value (DM 6645/6646)"
To use ABS offset preset function, turn ON "ABS offset preset (AR 09 bit 05)".
Note
When compensating an origin, start the operation after setting ABS offset
value (DM 6645/6646) to 0. Use either the programming console or CX-Pro-
grammer to set DM 6645/6646 to 0.
To use ABS offset preset function, wait 30 to 50 ms after "ABS number of rota-
tions read completed flag (AR08 bit 05)" is turned ON. Then, turn OFF "ABS
offset preset flag (AR 09 bit 05)" once, and ON, then OFF again.
Note
Make sure to execute ABS offset preset before the servo driver starts normal
pulse outputs. Timings for turning ON ABS offset preset depends on
encoder's resolution, etc. Adjust as needed corresponding to the system.
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