Omron CS1W-MCH71 Operation Manual page 608

Sysmac cs/cj-series

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Coordinate System

Multi-turn data

Machine coordinate

Using as Unlimited Length

• If origin setting is executed near the limit of the multi-turn data, a slight

movement will make the axis exceed the limit. Therefore, always initialize

the multi-turn data of the encoder before executing origin setting.

• The operation that the axis is used within the ranges where the multi-turn

data is reset or not reset is shown below:

The range that can be used normally

Within this range, the data from the absolute

encoder is unique. Thus, the present position is

constantly unique.

Same as the case of limited length axis, to execute the axis operation within

the range where the multi-turn data is not reset, use the same setting as the

one for the limited length axis. However, to execute the axis operation exceed-

ing the limit of the multi-turn data, it is required to match the reset timing of the

coordinate system managed in the MC Unit and the reset timing of the

encoder's multi-turn data. To match the timings appropriately, adjust the set-

ting value of the parameter [Pn205: Multi-turn limit setting]. In the case where

the load shaft makes n rotations while the motor makes m rotations, set the

value obtained by subtracting 1 from the denominator of deceleration ratio (m-

1) in Servo Driver parameter Pn205.

Also set the following MC Unit parameters:

Motor parameter 900C: m-1

If the value other than 65535 is set in the servo parameter [Pn205: Multi-turn

limit setting], the multi-turn data will change as shown below:

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