Panasonic MINAS A6N Series, Руководство по эксплуатации

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5-77 Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in T
rouble
7
Supplement
Caution
•Set Pr6.88 “Absolute encoder multi-turn data upper-limit value” while not allowing the RTEX
actual position and command position to exceed 2 31 .
When ((Pr6.88+1)× Encoder’s resolution performance) – 1 exceeds 2
31
, Err93.8 “Parameter
setting fault protection 6” is generated.
The actual position is based on Pr0.00 “Rotational direction setup” and Pr7.13 “Absolute
home position offset” and so on.
The servo driver set up actual position based on the following formulas.
Parameter Pr.0.00
(Rotational direction setup)
pluse Actual_position *1
APOS
：
Actual_Position
M
：
Multi-turn_Data
S
：
Single-turn_Data
OFS : Pr7.13
“
Absolute home position offset
”
When set to 1
(CCW is positive direction)
23bit
APOS
=((M×2
23 +S)×Electronic gear reverse
conversion fuOFS
When set to 0
(CW is positive direction)
23bit
APOS
=((M×2
23
+S)×Electronic gear reverse
conversion fuOFS
*1 When electronic gear is 1:1, effective bit length of multi-turn data is 9bit.
When electronic gear is 2:1, effective bit length of multi-turn data is 10bit.
When setting to electronic gear, APOS converge to the signed 32bit width
.
6. Application Functions
Continuous Rotating Absolute Encoder Function
CCW direction
Actual position (in cases
where CCW is positive direction)
Position
Zone where Multi-turn data is cleared
0
0
n- 1
n- 2
n- 3
3
2
1
2
23
-1
n
*1)
*1) Value of n is as follows.
Infinitely rotatable absolute mode
：
n = Pr6.88
Normal Absolute mode
：
n = 65535
Position
Multi-turn_Data
Single-turn_Data
In negative direction
4294967295
(command unit)
no relative displacement
In positive direction 1
(command unit) relative
displacement
(wraparound process)
Example of wraparound process:
Command position changed from 7FFFFFFFh to 80000000h
Servo internal computation
Command position (command unit)
Physical position
80000000h 80000000h
7FFFFFFFh