Veichi SD710 Series, Руководство пользователя, Страница: 113 / 520

SD710 Series Servo Drive User Manual Chapter 5 Commissioning and Operation
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Figure 5.46 Timing diagram for reading absolute position using DI/DO
The following table illustrates the delay in reading the absolute position using DI/DO.
Ts Tq
Tr Tn
Td
Minimum
( Min )
2ms 2ms 2ms 1ms 62.5us
Max Pn073+2ms -
Description of the timing when using DI/DO to read absolute positions.
①
When starting to read the absolute position using DI/DO, the upper unit turns the position reading enable (ABS_En,
0x07) signal on.
②
After the delay time of Ts delay to confirm the level, X4/Y4 is switched from the original DI/DO function to ABS_R
and ABS_D functions. If the X4 signal is a high level signal before switching, when the original function switches ABS_R
function, its original function will continue to keep high level state in the driver. [
Before and after turning on the
position reading enable (ABS_En) signal, users need to pay special attention to its function switching, and it is
recommended that users set X4 and Y4 to 0, i.e. do not use X4 and Y4 to multiplex with other functions.
]
③
When X4 is set high at ABS_En and after Ts time delay, X4 is switched to ABS_R. If the upper computer sets this
signal low, the drive enters the data request preparation phase.
④
After time Td has elapsed, the driver has prepared and placed the data on ABS_D and the upper unit can read it
after Tr time has elapsed. After the reading is complete, the ABS_R signal is set high, then after time Tn, the ABS_R
signal is set low, and so on until all bits of data have been read.
⑤
When ABS_En is set low before the upper unit has read all 64-bit data, this data is finished, and when it is
necessary to continue transferring absolute value position information, it is necessary to start again from step 1.
For example, the encoder is a 24-bit absolute encoder, when the absolute position single turn number is 1234 turns, the
pulse data in one turn is 16777200, and the corresponding data sent is
Bit63 to Bit48 Bit47 to Bit32 Bit31 to Bit16 Bit15 to Bit0
Word_4 Word_3 Word_2 Word_1
Calibration value Number of encoder turns Number of pulses in one revolution of the encoder
0x5CC1 0x04D2 0x00FF 0xFFF0
The encoder is a 24-bit absolute encoder, when the absolute position single turn number is -1234 turns, the pulse data
in one turn is 16777200, the corresponding sent data is
Bit63 to Bit48 Bit47 to Bit32 Bit31 to Bit16 Bit15 to Bit0
Word_4 Word_3 Word_2 Word_1
Calibration value Number of encoder turns Number of pulses in one revolution of the encoder
0xFB21 0x00FF 0xFFF0