Multiturn Absolute Encoder; Parameters Setting; Read Absolute Position - Leadshine EL8-EC Series User Manual

6.16 Multiturn absolute encoder

Multiturn absolute encoder records the position and the revolution counts of the motor.
When driver is powered-off, multiturn absolute encoder will backed up the data using
battery and after powering on, the data will be used to calculated absolute mechanical
position and there is no need for a mechanical homing process. Use widely in robotic
arms and CNC machines.
If it is the first time using the encoder, please home the mechanical axis and initialize
the absolute position of the encoder to zero. Set up a homing point and only home when
there is an alarm. Please stop the axis before reading any position data to prevent
inaccuracy.

6.16.1 Parameters setting

Name
Pr0.15
Range
Activation
0: Incremental mode:
Used as an incremental encoder. Doesn't retain position data on power off. Unlimited travel
distance.
1: Multiturn linear mode:
Used as a multiturn absolute encoder. Retrain position data on power off. For applications with
fixed travel distance and no multiturn data overflow.
2: Multiturn rotary mode:
Used as a multiturn absolute encoder. Retrain position data on power off. Actual data feedback
in between 0-(Pr6.63). Unlimited travel distance.
Used when travel distance is within 1 revolution of the encoder. Data overflow will trigger alarm.
5: Clear multiturn alarm and activate multiturn absolute function. Will switch to multiturn mode
once alarm cleared, if remains at 5 after 3s, please solve according to Er153.
9: Clear multiturn position, reset multiturn alarm and activate multiturn absolute function. Will
switch to multiturn mode once alarm cleared, if remains at 9 after 3s, please solve according to
Er153. Please disable axis before setting to 9 and home the axis before using.
6.16.2 Read a bso lute position
eps:
1、St
First, select a motor with multiturn absolute encoder, install battery and confirm whether
the driver version supports the specific motor;
Set Pr0.15 = 1. If it is the first time of installation, Err153 will occur because battery is
newly installed and position data is invalid.
position of the encoder to zero.
When absolute homing point is set and there is no fault with the battery, the alarm will
be cleared
Finally, the user can read the absolute position. Position won't be lost even if the driver
is powered off.
Absolute Encoder settings
0~3276
Unit
7
Immediate
Please home the axis and initialize the absolute
User manual of EL8-EC***F AC Servo
Mode PP
- Default 0
CS
HM
P
Index 2015h
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