Absolute Encoder Operating Procedure - Omron CJ1W-NC271 - 12-2009 Operation Manual

Absolute Encoder Origin
CPU Unit
MOV
MOV
WRITE DATA/SERVO
PARAMETER
CONNECT/SERVO LOCK
Common Operating Memory Area
n+1
Axis Operating Output Memory Areas
a+1
Axis Operating Input Memory Areas
Control status
b
Feedback present position
b+6
(rightmost word)
Feedback present position
b+7
(leftmost word)
Command present position
b+8
(rightmost word)
Command present position
b+9
(leftmost word)
n: Beginning word of Common Operating Memory Area: n = CIO 1500 + (unit number × 25)
a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No. −1) × 25
b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No. −1) × 25
Applicable Servomotors
8-6-2

Absolute Encoder Operating Procedure

1,2,3...
The following is an example for using a W-series Servo Drive.
Use WRITE SERVO
PARAMETER to transfer
before executing ORIGIN
SEARCH.
Use WRITE DATA to
transfer before
Axis Parameter Area
executing ORIGIN
SEARCH.
d+3
Output during I/O refresh
CONNECT Bit
(word n+1, bit 00)
Output during I/O refresh
SERVO LOCK
(word a+1, bit 00)
Input during I/O refresh
The following Servomotors with absolute encoders support this function.
OMRON G5-series Servomotors
Model: R88M-K@S/K@T/K@C
OMRON G-series Servomotors
Model: R88M-G@S/G@T
OMRON W-series Servomotors
Model: R88M-W@S/W@T
The SMARTSTEP Junior Servo Drives cannot be used with motors with abso-
lute encoders.
The procedure for using an absolute encoder is as given below. The following
procedure is performed just once when using the absolute encoder for the first
time, when replacing the Servomotor, when the absolute encoder's battery
expires, or when another reason occurs that results in loss of absolute value
data.
1. Set the Common Parameters and save them.
2. Set the Axis Parameters and save them.
3. Turn the PCU OFF and then ON again or restart the Unit.
The data for the Common Parameters and Axis Parameters set in steps 1
and 2 above are enabled.
PCU Servo Drive
Function
selection
application
switch 2
Pn002.2
Encoder type
Origin offset
Pn808
+
+
Section 8-6
Servomotor
M
Select the type of
encoder to be used.
PG
Reading absolute
value data
Absolute encoder
327