Servo Drivers With Absolute Encoders - Omron SYSMAC CS Series Operation Manual

Functions Compatible with Servo Drivers with Absolute Encoders
7-8-11 Timing Chart of the Functions Compatible with Servo Drivers with
Absolute Encoders
ABS No. of rotations read
(AR 09 CH bit 07)
High-speed Counter Start Bit
Processing (AR 09 CH bit 00)
by user program
ABS PV preset
(AR 09 CH bit 06)
RUN signal output bit
Processing
by Unit Operation
ABS No. of rotations
read completed
Signal from
Servo driver
ABS Present value
■ Step 4 (Required)
"ABS Present Value Preset"
Storing ABS present value in "high-speed counter present value 1 (AR 00
to 01)" using ABS present value preset function
Store "ABS present value" in "high-speed counter present value 1 (AR 00 to
01)" in advance using ABS present value preset function.
To use ABS present value preset function, turn OFF "ABS present value pre-
set flag (AR 09 bit 06)" once, and ON, then OFF again.
■ Step 5 (Required)
"Operating Command to Servo Driver"
Turn ON "RUN signal output bit (servo lock)". Doing so will cause the servo
driver to start operating. At the same time, the unit (model CS1W-HCA12-V1)
starts receiving pulse trains corresponding to the rotational displacement and
counting the number of pulses.
■ Step 6 (Required)
"Stopping Servo Driver"
Turn OFF "RUN signal output bit (servo lock)". Doing so will stop the servo
driver. In addition, turn OFF "ABS number of rotations read flag (AR 09 bit
07)" and "high-speed counter start flag (AR 09 bit 00)". With these turned
OFF, the unit will also stop operating and counting the pulse trains.
50 ms
SEN output
turn data:
Serial data (turn data) approx.15 ms
Phase A
Phase B
Counter value is not changed
during reading trun data.
min: (50+60) ms
typ: (50+90) ms
max: (50+260) ms
ON during 1 scan
Preset after 30 to 62.5 ms
The
Initial incremental pulses
latest
value
1 to 3 ms
30 to 62.5 ms
Section 7-8
If ABS No. of rotation
is success, SEN
output is kept ON.
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