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4.2
Setup Procedure
The following table gives the procedure for making settings for the rotational coordinate sys-
tem.
Step
1
Set the first rotational coordinate (Pn87C) and last rotational coordinate (Pn87A).
Set the multiturn limit to match the machine rotational coordinate system. (This step is necessary
2
only for an absolute encoder.)
Turn the power supply OFF and ON again, or send the Setup Device command (CONFIG: 04 hex)
3
from the host controller.
Set the origin offset for the absolute encoder. (This step is necessary only for an absolute
4
encoder.)
5
Set the movement method for the rotational coordinates (Pn87E = n.X).
Perform the following operation for your encoder.
Absolute Encoder
Send the Turn Sensor ON command (SENS_ON: 23 hex) from the host controller.
6
Incremental Encoder
• Send the Zero Point Return command (ZRET: 3A hex) from the host controller.
• Use the Set Coordinates command (POS_SET: 20 hex) from the host controller to set a refer-
ence point (REFE = 1).
7
Start operation.
4.2.1
Setting the Rotational Coordinate System
Use the following parameters to set the first rotational coordinate and last rotational coordinate.
Pn87C
Pn87A
Note: Turn the power supply OFF and ON again, or send the Setup Device command (CONFIG) from the host con-
troller to enable changes to these parameters.
• If Pn87A and Pn87C are set to 0, operation will be performed with linear coordinates
(-2,147,483,648 to 2,147,483,647) in the same way as for a standard Σ-7 SERVOPACK.
• In Reverse Rotation Mode (Pn000 = n.
Important
but Pn87A and Pn87C are set to the same direction as the reference direction.
First Rotational Coordinate
Setting Range
Setting Unit
-536,870,912 to 0
1 reference unit
Last Rotational Coordinate
Setting Range
Setting Unit
0 to +536,870,911
1 reference unit
4.2.1 Setting the Rotational Coordinate System
Description
Default Setting
When Enabled
0
After restart
Default Setting
When Enabled
0
After restart
1), the motor will operate in the reverse direction,
4.2 Setup Procedure
Classification
Setup
Classification
Setup
4
4-3
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Troubleshooting
