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5.2 Absolute Encoders
5.2.6 Position Management Method for Each Machine Operation Type
Maximum Number of Absolute Encoder Rotations
Set the maximum number of absolute encoder rotations.
Set fixed parameter No. 38 (Maximum Number of Absolute Encoder Rotations) to the same
value as the Pn205 SERVOPACK parameter.
Important
Creating Ladder Programs for Infinite Axis Position Man-
agement
If simple absolute infinite axis position management is not used, special ladder programming is
required for operation and for when the power supply to the system is turned ON.
During Operation
If simple absolute infinite axis position management is not used, special ladder programming is
required for normal operation and for when the power supply to the system is turned OFF and
ON again.
1.
Check to make sure that bit 5 (Zero Point Return/Setting Completed) in the IW
monitor parameter is 1 (Zero point return/setting completed).
If it is not, it means that the power OFF pulse position, power OFF encoder position, and all position
data have not been set. In this case, refer to the following section and either set up the position infor-
mation again or execute the ZSET motion command to establish new position information.
2.
Use the ladder program to save the following monitor parameters in the high-speed
scan to M registers.
• All four words of the IL
• All four words of the IL
The M registers that are used to save the above monitor parameters are structured as shown below.
5-40
Set fixed parameter No. 38 and SERVOPACK parameter Pn205 to the same values to ensure
that correct motion control is performed and to prevent position variation.
Multiturn limit setting mismatch detection can be used to determine whether both values match.
Refer to the following section for details.
6.7 Multiturn Limit Setting Disagreement Detection on page 6-31
5.2.5 Reading Position Data When the Power Supply Is Turned ON on page 5-25
Bit 0
Bit 1
MW
Bit 2
Bit 3
MW
+1
Not used.
ML
+2
ML
+4
Buffer 0
ML
+6
ML
+8
ML
+10
ML
+12
Buffer 1
ML
+14
ML
+16
5E/IL
60 monitor parameters (Power OFF Encoder Position)
62/IL
64 monitor parameters (Power OFF Pulse Position)
Toggle Buffer Enabled Flag (0: Disabled, 1: Enabled)
Toggle Buffer Selection Flag (0: Buffer 0, 1: Buffer 1)
Position Information Re-setup Request Flag
(0: Completed, 1: Request)
Position Information Save Request Flag
(0: Prohibited, 1: Request)
Monitor Parameter:
Encoder position when the power is
OFF
Monitor Parameter:
Pulse position when the power is
OFF
Monitor Parameter:
Encoder position when the power is
OFF
Monitor Parameter:
Pulse position when the power is
OFF
0C
Lower 2 words
(IL
5E)
Upper 2 words
(IL
60)
Lower 2 words
(IL
62)
Upper 2 words
(IL
64)
Lower 2 words
(IL
5E)
Upper 2 words
(IL
60)
Lower 2 words
(IL
62)
Upper 2 words
(IL
64)
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