MHT258a (Engl.)5-20
5.4.5 Current position output
The current position that the amplifier is recognizing is outputted.
The current position output signal value is a signal of unit quantity set by basic para. 91 and 92. Actual move amount of mechanical
equipment system is transmitted based on an origin point. When pulse correction function is not used, the current position is represented by
the rotational quantity (accumulated absolute position) where one revolution of motor is divided by 16384 pulses/rev.
Transmission format
MSB LSB
Current position : Transmitted in 32 bit binary data, beginning with MSB.
Check sum : Resultant lower 8 bit when 1 byte (8 bit) data is added 4 times from MSB side. Check sum is transmitted, beginning
with MSB side as well. Check sum is done for the current position 32 bit length data.
Remarks :
Motor position detector (16 bit serial encoder) consists of one rotation data and multiple rotation data. This is different from the current
position output data transmitted from amplifier.
1) Multiple rotation data
Rotational quantity per one rotation based on the origin of motor (encoder)
The data is complement of 2 in 16 bit and from –32768 to +32767.
2) One rotation data
Absolute position within motor (encoder) one rotation
16 bit data and 0 to 65535.
■ Related item
System parameter 79
Para. Name Setting range Initial value Change
79 Output pulse count 16 to 16384 (in increments of 1) 2048 Power
* Output pulse count from terminals such us FA /*FA.
Output pulse count from frequency dividing output terminals FA/*FA, FB/*FB is set.
The pulse count is A-phase and B-phase pulse count per one rotation of motor output shaft.
2048 pulses/rev. is set at factory shipment.
・Calculation example of output frequency
Supposing that motor output shaft speed is 5000 [r/min] and the output pulse count is 3000 [pulse/rev];
f = (5000 / 60) ×
××
× 3000 [pulse] = 250000 [Hz]
Consequently, 250 [kHz] pulse will be output.
Current position
(Lower 16 bit)
Current position
(Upper 16 bit)
Check sum
(8 bit)
40bit
←Multiple rev. data
– 2 rev. –1 rev. Zero rev. +1 rev. +2 rev. +3 rev.
One rev. data
* The position of position preset or origin return complete is within this zone.
65536
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