Word N+5 Bit 06: Abs Initialization Bit (X-Axis) - Omron C200H-MC221 Operation Manual

Interface Bit Specifics
Program Example

6-5-23 Word n+5 Bit 06: ABS Initialization Bit (X-axis)

Signal
Timing Chart
Preset condition
R1 n+16 01
Busy Flag
n+5 05
Current Position
Preset Bit
This bit reads absolute data from the absolute encoder and sets the current
value to zero. It will be enabled when turned ON, but the following restrictions
apply.
• It must not be used within one second after turning ON servodriver control
power supply or main circuit power supply.
• It cannot be used while a run command is being output to the servodriver. (An
error will occur.)
This command is normally used to correct the absolute position after the abso-
lute encoder has been replaced or set up. Once this bit has been turned ON,
processing will continue until completion even if the bit is turned OFF before
completion. Keep this bit ON, however, until the Busy Flag turns ON.
This command is ignored when the Busy Flag is ON. An error will occur if it is
executed during a servo lock. Processing will not be interrupted during execu-
tion of the command even if a deceleration stop command is executed. This
command has no effect on incremental operation.
Do not execute this command while system parameters are being downloaded.
Doing so may result in incorrect initial settings of the absolute encoder. Refer to
7-6 Setting Up the Absolute Encoder for details.
Reads absolute data and sets the current value to 0 when this bit goes from OFF
to ON (up-differentiation).
ABS Initialization Bit
(n+5 bit 06)
Busy Flag
(n+16 bit 01)
Current position
n+11 03 n+11 00
Manual Task
Mode Error
Flag Flag
20 ms
min.
Section 6-5
Auxiliary
DIFU(13) R1
Area Bit
Preset the current
position in the
expansion data
area (I+6 and I+7).
OUT
n+5 (Preset the
05
current
position)
20 ms
min.
0
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