Examples and tips
PROGRAMMING MANUAL 264
Revision 1.0
Caution
You must initialize the absolute encoder before you use it for the
first time, when the battery is lost during power off and when the
multiturn limit setting in the parameter Pn205 is changed. The ini-
tialization can be done on the display of the Servo Driver or with
the software tool. For more detail on initialising absolute encoder,
please see the Sigma-II Servo Driver manual.
Caution
It is possible to reset the multiturn counter, but it is not possible to
reset the position within one turn (the fraction from 0 to and exclud-
ing 1). To adjust zero offset, use the parameter Pn808. For more
details see the NS115 MECHATROLINK-II Interface Unit manual.
Caution
At power up, the absolute encoder position is read from the motor
and written to MPOS using the following conversion:
•For MPOS:
• This is correct if
• If this value is greater than 2
24
, MPOS can have incorrect val-
ues at start-up. To avoid this problem, add the program code
DEFPOS = ENCODER/UNITS after all UNITS initializations.
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