Panasonic MINAS A6N Series, Руководство по эксплуатации

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5-78 Rev.2.00
Caution
•When this function is used for the first time, or Pr6.88 is changed to an arbitrary value and
power is re-input, Err92.3 “Inconsistency fault protection of multiple rotation data’s upper
limit values” is always generated. However, it is not a fault.
Once the driver control power is re-powered on, the error will not occur from the next time.
•Refer to Section P.7-3 for structure of absolute system.
•Set Pr7.13 “Absolute home position offset” between “0” to “((Pr6.88 set value +1)* encoder
resolution)-1”.
When wrong valuse is set, the servo amplifiers shows Err93.8 “Parameter setting error
protection 6”.
Operation Example
The operation is as follows in the case of the deceleration ratio (m = 50, n = 4) where the
turntable makes 4 turns when the motor makes 50 turns.
①
Set Pr0.15=4 and Pr6.88=49, and write to EEPROM.
②
Re-power on the driver control power (or execute the attribute C enable command).
③
The upper-limit value of the multi-turn data on the encoder side is automatically updated
when the driver is started up
④
Err.92.3 “Multi-turn data upper-limit value disagreement error protection” occurs.
⑤
Re-power on the driver control power
⑥
The multi-turn data upper-limit value is enabled and the RTEX actual position is generated
as shown in the figure below.
⑦
The host device reads the RTEX actual position, and the RTEX command position is
initialized.
⑧
Because the RTEX actual position wraps around at 223 x 50 - 1, allow for operation with
the RTEX command position wrapped around in agreement with this.
※
Because the multi-turn data upper-limit value is retained with the battery power supply
connected to the encoder, follow the steps from (6) above when you turn on the driver
control power at the next and subsequent operations.
6. Application Functions
Continuous Rotating Absolute Encoder Function
4
8
0
50 - 1
0
0
(2
23
x 50)-1
Amount of turntable
turn
Absolute encoder
multi-turn data
Pr6.88
< 2
31
Position
Position
Position
RTEX actual position
（
RTEX command position))