Single-Turn Absolute Function - Panasonic MINAS A6N Series Operating Instructions Manual

5
Adjustment
Outline
This function uses the absolute encoder as an absolute system only for single-turn absolute
position data without connecting the battery power.
The movable range of the motor is limited by single-turn data of the absolute encoder.
Applicable Range
This function can be applicable only when the following condition are satisfied.
Control Mode • Position control, velocity control, torque control
Others
Caution
•This function is enabled by setting Pr0.15 "Absolute encoder setup" to 3.
•If the motor (encoder) position exceeds the motor working range (single-turn data of the
encoder), Err34.1 "Single-turn absolute working range error protection" occurs.
•When Err34.1 "Single-turn absolute working range error protection" has been activated, the
motor is decelerated and stopped according to Pr5.10 "Sequence at alarm".
•If the command position for RTEX communication is set to the outside of the motor working
range, a command error is returned.
•When this function is enabled, multi-turn data for the absolute encoder is not used. Thus,
alarms related to multi-turn data (Err40.0 "Absolute system down error protection", Err41.0
"Absolute counter over error protection", Err42.0 "Absolute over-speed error protection", and
Err45.0 "Absolute multi-turn counter error protection") and battery alarms are not detected.
Related Parameter
Class No.
0 15
7 13
Rev.2.00
6. Application Functions

Single-turn Absolute Function

Operating conditions for the single-turn absolute function
• The absolute encoder must be connected.
Title
Select the use method of the absolute encoder. *2)
0: Use as an absolute system (absolute mode).
1: Use as an incremental system (incremental mode).
2: Use as an absolute system (absolute mode), however
ignore the multi-turn counter over.
Absolute
3: Use as an absolute system, however not use the multi-
encoder setup
turn counter (single-turn absolute mode).
4: Used as an absolute system (absolute mode), however
any upper limit value can be set for the multi-turn counter,
and ignore the multi-turn counter over. (continuous rotating
absolute mode)
When using an absolute encoder , set up the offset value
Absolute home
on the encoder position and mechanical coordinate system
position offset
position.
Function
1
2
3
4
5
6
7
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