Omron NJ501-1300, Руководство пользователя

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8-13
8 Homing
NJ-series CPU Unit Motion Control User’s Manual (W507)
8-4 H
o
m
ing
with an
Abso
lute Enco
der
8
8
-4-1
Outline of Fu
nction
To define home with an absolute encoder system, the absolute encoder offset compensation is per-
formed when the MC_Power (Power Servo) instruction is executed. Home can also be defined by per-
forming a homing operation in the same way as for an incremental encoder. After home is defined, the
difference between the command position and the absolute value data read from absolute encoder is
saved to the battery-backup memory in the CPU Unit as the absolute encoder home offset.
The Absolute Encoder Origin Position Offset axis parameter is also set to the difference (i.e., the offset)
between the command position after defining home and the absolute value when the MC_Home (Hom-
ing) instruction is executed. The MC Function Module automatically saves the absolute value encoder
home offset to the battery-backup memory in the CPU Unit. You do not have to perform a save opera-
tion from the Sysmac Studio.
Precautions for Correct Use Precautions for Correct Use
• If you replace the CPU Unit or the Battery in the CPU Unit, make sure home is defined and
back up the battery-backup memory before you start the replacement procedure. This ensures
that the absolute encoder home offset is backed up.
• You can restore the backed up data after finishing the replacement procedure to use the home
that was previously defined.
• Use the Sysmac Studio to back up and restore the data.
Refer to the
Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific proce-
dures.
A list of Servomotors that can connect to the MC Function Module is provided below.
Connect the Servo Drive correctly according to information in the NJ-series CPU Unit Built-in EtherCAT
Port User’s Manual (Cat. No. W505).
This section describes the procedure to set the home of an absolute encoder system.
1
Absolute Encoder Setup
Refer to the OMRON G5-series AC Servomotors/Servo Drives with Built-in EtherCAT Communi-
cations User's Manual (Cat. No. I576) for the setup procedure.
2
Setting Axis Parameters
Set encoder type for the Count Mode axis parameter of the MC Function Module. For details,
refer to 5-2-7 Position Count Settings .
8-4-1 Outline of Function
Applicable Servomotors
Manufacturer Series Servo Drive Servomotor
OMRON G5 Series R88D-KN
@@@
-ECT R88M-K
@@@@@
S
R88M-K @@@@@ T
R88M-K
@@@@@
C
Connecting the Servo Drive
8-4-2 Setting Procedure