Omron CS1W-MCH71 Operation Manual page 586

ABS Encoder Origin Setting
Parameters of Servo Driver
No. Name
Pn002.2 Absolute encoder
usage
Pn205 Multi-turn limit
setting
Pn813.0 Option monitor 1
select
Pn813.1 Option monitor 2
select
Note
8-6-3 Setting Up the Absolute Encoder
Purpose
Setup Procedure
Value
0: Uses absolute encoder as absolute encoder.
1: Uses absolute encoder as incremental encoder.
0~65535
0: Follows analog monitor 1 (Pn003.0)
1: Follows analog monitor 1 (Pn003.1)
2: Initial multi-turn data (IMTDATA)
3: Encoder count direct value (PGCNT: after x4)
4: Motor PG initial multi-turn data direct value
5: Motor PG counter direct value
6: Motor PG counter latch direct value
7: Reserved
8: Full-closed PG counter direct value
9: Full-closed PG counter latch direct value
Same as above
(1) With machines such as turntable whose motor makes m rotations while
its load shaft makes n rotations, the present value cannot be displayed
correctly unless the multi-turn data from the ABS encoder returns to zero
in every m rotations. Setting the value obtained by subtracting 1 from de-
celeration ratio denominator (m-1) in Pn205 will enable to display the
present value correctly.
(2) Both multi-turn data and initial incremental pulses are read through the
option monitor 1/2 when the power is turned ON. Set the parameters
Pn813.0 and Pn813.1 appropriately so that the absolute data can be read
correctly.
ABS encoder setup is required when clearing the rotational count data of the
encoder to 0, or when the encoder has been left disconnected from the bat-
tery for a long period. Along with the ABS encoder setup, ABS origin must be
set in the MC Unit. This is for resetting rotational count data of the ABS
encoder, which should be accompanied by initialization of the axis present
value to 0 in the MC Unit.
The following setup procedure is for the ABS encoder on OMRON W-series
Servomotor.
Make sure to follow the procedure. Otherwise, errors may occur.
Section 8-6
Remark
Set 0.
Limited length axis:
65535 (Default value)
Unlimited length axis:
Denominator of the deceleration
ratio -1 (See note 1.)
Set 2. (See note 2.)
Set 3. (See note 2.)
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