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Absolute System
10.3.4.2 Establishing the absolute origin position with parameters
Set P2.071 to 1 to establish the absolute origin position through the panel or with
communication. Since P2.071 is write-protected by P2.008, you must set P2.008 to 271 first. In
10
other words, the sequence is: set P2.008 to 271, and then set P2.071 to 1. As soon as P2.071
is set to 1, the absolute position system resets.
10.3.4.3 Establishing the absolute origin position with the PR homing function
You can use the 11 homing modes in the PR mode to establish the absolute origin position. For
more details, refer to Section 7.1.3.1 Homing methods.
10.3.5 Reading the absolute position
10.3.5.1 Reading the absolute position with DI/DO
Set P2.070 [Bit 0] to 0 so that you can read the value in PUU with DI/DO. See the following
descriptions.
Bit 79 - Bit 64
Check Sum
Set P2.070 [Bit 0] to 1 so that you can read the value in pulse with DI/DO. See the following
descriptions.
Bit 79 - Bit 64
Check Sum
Description:
Check Sum = (((((((WORD_0+0xA700) XOR WORD_1)+0x605A) XOR WORD_2)+0x30A5)
XOR WORD_3)+0x5A06)
WORD_0
0xA700
Note:
This algorithm has no positive or negative sign.
1.
0xA700, 0x605A, 0x30A5, and 0x5A06 are constants in hexadecimal format.
2.
WORD_0: encoder status (Bit 15 - 0)
3.
WORD_1: number of encoder revolution (Bit 31 - 16)
WORD_2: encoder pulse number (Bit 47 - 32)
WORD_3: encoder pulse number (Bit 63 - 48)
10-22
Bit 63 - Bit 32
Encoder PUU
-2,147,483,648 to +2,147,483,647
Bit 63 - Bit 32
Encoder pulse number within one revolution
0 to 16,777,215 (= 16,777,216 - 1)
WORD_1
+
XOR
+
0x605A
Bit 31 - Bit 16
0
Bit 31 - Bit 16
Number of encoder
revolution
-32,768 to +32,767
WORD_3
WORD_2
XOR
+
XOR
0x30A5
ASDA-A3
Bit 15 - Bit 0
Encoder status
(P0.050)
Bit 15 - Bit 0
Encoder status
(P0.050)
+
Output
0x5A06
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Troubleshooting
