10-11
10-5 Acquisition of Absolute Position
ABSOLUTE POSITION SYSTEM
- SV Series User’s Manual -
● Acquire sequence program of absolute position
1 Check to ensure "Absolute position data request (SEN)" signal is OFF.
2 Trun on the power supply of servo amplifier. After "Alarm (ALARM)" output is OFF, open "Absolute position data request
(SEN)".
3 After 100ms, upper unit is now ready for receiving serial data. Then, reset the counter for INC encoder.
4 The following timing chart is used to acquire rotation serial data and default INC encoder.
5 The absolute position data of higher-level equipment is calculated with acquired rotation serial data and default
incremental pulses.
6 After the acquisition, servo amplifier performs an incremental operation, until "Absolute position data request
(SEN)" signal is changed to OFF. When servo ON , the "Absolute position data request (SEN)" signal cannot be
closed.
In case an alarm occurs, do not open the "Absolute position data request (SEN)" signal.
● Precautions
When inputting "Absolute position data request (SEN)" signal, the following timing must be followed.
(1) When acquiring absolute position, the servo must be OFF. When servo ON, "Absolute position data request
(SEN)" signal is not accepted.
(2) When absolute position system is used, you must turn on "Servo ON (SVON)" signal after "Absolute position data
request (SEN)" signal is on. Even if "Servo on (SVON)" signal is input before the "Absolute position data request
(SEN)" signal, servo cannot be ON. The message "Servo on condition fail warning" (9D2) will occur.
*Not available for the MECHATROLINK-II type.
(3) You can close the
"Absolute position data request (SEN)" signal only after the servo is OFF, even if you close it
when the "Servo on (SVON)" signal is ON.
(4) To close the "Absolute position data request (SEN)" signal when
servo ON, the same can be closed after it is
turned on for 1300ms.
(5) To turn on the "Absolute position data request (SEN)" signal again after it is closed, you need to wait for 15ms.
Rotation serial data
SEN signal
-phase
B-phase
Uncertain
Uncertain
60ms or more
(90ms type value)
1 to 3ms
INC pulse
INC pulse
(A-phase) (A-phase)
(B-phase)
about 15ms
Max.
400ms
50ms
(B-phase)
Default INC
pulse
Default INC
pulse
“Servo ON (SVON)” input
“Absolute position data request
(SEN)” input
1000ms or more
(1) (2)
(3)
(4) (5)
ON
OFF
ON
OFF
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