Shihlin SDH Series, Руководство пользователя

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189
Chapter 13.
direction. The communication or digital inputs/digital outputs can be used to read it.
Pulse number for the distance = r(turn) x 4 pulse number within one turn (0~4194304)
If the motor rotated 10 turns and 50000 pulses, the total pulses will be as following formula.
Total pulses = 10 x 4 50000
= 41993040 (pulse)
Reading absolute position
Please refer to status monitoring communication parameter table of section 9.4 about reading data. It is
suggested to use ” Motor feedback pulse (before electric gear)”.Here is the simple table for reference.
Position Items Data Length
0x0000 Motor feedback pulse (after electric gear) [pulse] 2word
0x0024 Motor feedback pulse (before electric gear) [pulse] 2word
The drive will update the current encoder status and absolute position of motor by writing PA30. When PA30 = 1,
errors will not be cleared when read position data. If PA30 = 2 o'clock, errors will be cleared when read position data.
When the servo motor is motionless, it will do tiny position correction. In order to avoid absolute coordinate values
different from the actual position, users can set coordinate and clear position error. After the drive has been updated
encoder status and absolute position of motor, the drive will set PA30 back to 0 automatically, that means parameter data
can be read by the host controller.
If the encoder status displays " absolute position lost" or "absolute turn overflow", the absolute position is invalid.
Please do initialize absolute coordinate system or do home returning again.