Absolute Encoder - Omron R88A-MCW151-DRT-E Operation Manual

System Functions
3-3-4

Absolute Encoder

54
AIN3: Torque Monitor Value
Analog input 3 contains the Torque Monitor Value from the Servo Driver.
Item
Output Range (-15000, 15000)
Resolution Given by T_RATE axis parameter.
Torque Monitor [% of rated torque] = AIN3*T_RATE
If the Servo Driver uses a Servomotor with an absolute encoder, the MC Unit
will obtain the absolute encoder position each start-up.
As a result, operation can be performed immediately without any origin search
operation at start-up. Use one of the following Servomotors with absolute
encoder.
Servo Driver
Single-phase 100 V AC
Single-phase 200 V AC
Three-phase 400 V AC
A backup battery is required when using an absolute encoder. Install the bat-
tery into the Servo Driver's battery holder.
Item
R88A-BAT01W
Setting up the encoder
Set-up the use of the absolute encoder by performing the following setting.
Param- Parameter Name
eter No.
Pn002.2 Operation switch
when using abso-
lute encoder
Multi-turn limit setting
If an absolute encoder is used, the counter counts the number of rotations
from the setup position and output the number of rotations from the Servo
Driver to the MC Unit. For some applications it is convenient to reset the multi-
turn data back to 0 after a certain amount of turns.
Specification
15000
-Max. torque
-15000
Servomotor Model
R88M-W S-
R88M-W T-
R88M-W C-
Specification
Absolute Encoder Backup Battery Unit
Battery: Toshiba ER3V, 3.6 V, 1000 mA
Required
Setting
0 Use as absolute encoder
Section 3-3
Max. torque
Encoder Resolution
16-bit
16-bit
17-bit
Explanation