Omron C200H-MC221 - Executing MC Programs from the Ladder Program

190
SEN signal
Phase A
Phase B
Undefined
Undefined
Serial
data
Absolute data
Initial
incremen-
tal pulse
Serial data for revolution count
ABS
Undefined
Normal incremental pulse
Contents of Absolute Data
• Serial Data: Indicates how many revolutions the motor shaft has rotated from
the reference position (specified at setup).
• Initial Incremental Pulse Count: Indicates the number of pulses generated
when the motor rotates from the origin position to the current position of the
motor shaft at a maximum speed of about 4,900 r/min.
The current position (PE) can be determined using the following formula, where
M is serial data (number of motor revolutions), PO is the number of initial incre-
mental pulses counted, and R is the number of output pulses per motor shaft
revolution that is set for the divider circuit.
PE = M x R + PO
Example
Reference position
(at setup)
Current position (P
E)
Coordinate value
M value
P
E
: Present value (servo) read by encoder
M: Number of revolutions (servo)
R: Number of pulses per encoder revolution (4,096 pulses)
P
O
: Number of initial incremental pulses (servo) read by encoder
(normally, negative value)
P
S
: Number of initial incremental pulses read at setup
(normally, a negative value, which will be then stored in the MC Unit)
P
M
: Present value of the system
P
E
= M × R + P
O
P
M
= P
E
– P
S
Absolute Encoder Interface Specifications
Section 7-8