Continuous Rotating Absolute Encoder Function - Panasonic MINAS A6N Series Operating Instructions Manual

5
Adjustment
Outline
This function allows you to set any upper limit value for absolute encoder multi-turn data.
With this function, it is possible to determine the turn angle (position) of a turntable and such
other applications, even in the case of continuous turn in one direction.
In addition, because this is an absolute encoder, the home position return after the power is
re-powered on is unnecessary.
Applicable Range
This function can be applicable only when the following condition.
Control Mode • Position control, velocity control, torque control
Others
Rev.2.00
6. Application Functions

Continuous Rotating Absolute Encoder Function

Turntable
The turntable makes
n turns when the motor
makes m turns.
Operating conditions for continuous rotating absolute
• The encoder is a 23bit resolution absolute encoder.
• The following equation holds and the solution is an integer:
Command position per turn of turntable = Encoder resolution (2
electronic gear ratio/reduction ratio is an integer less than or equal to
(2 -1).
31
• The elements other than control parameters are correctly set, assuring
that the motor can run smoothly.
n turns
Deceleration ratio
(Machine gear ratio)
n/m
m turns
A6 motor
encoder function
1
2
3
4
5
23 )/
6
7
5-75