Panasonic MINAS A6 Multi Series - 4.7 Absolute Setup

4.7Absolute setup
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4.7 Absolute setup
4.7.1 Absolute encoder
When using the motor with absolute encoder, you can compose an absolute system, which does not
require executing a homing operation at power-ON. For that, it is necessary to set Pr0.15 (Absolute
encoder setup) to other than "1" and connect the battery for absolute encoder.
 For details of the single-turn absolute function, refer to section "6.6 Single-turn absolute
function". In this case, the connection of the battery is not required.
 For details of the continuous rotating absolute encoder function, refer to section
6.6Single-turn absolute function
■ Relevant parameters
Class
No.
Attribute
Title
Range
Unit
Function
0
15
C
Absolute encoder
setup
0 to 4
-
Sets the method of using the absolute encoder. (Note 1)
0: Use under absolute system (Absolute mode).
1: Use under incremental system (Incremental mode). (Note 2)
Detection of the following protection functions is disabled.
Err40.0 "Absolute system down error protection"
Err41.0 "Absolute counter over error protection"
Err42.0 "Absolute over-speed error protection"
Err45.0 "Absolute multi-turn counter error protection"
2: Use under absolute system (Absolute mode) but multi-rotation
counter overflow is ignored
3: Use under absolute system, however not use the multi-turn
counter (single-turn absolute mode) (Note 2)
4: Use under absolute system (Absolute mode) but the upper
limit value of the multi-rotation counter can be set to any value.
Multi-rotation counter overflow is also ignored.(continuous
rotation absolute mode)
Set this to 0 for full-closed control function (Rotary scale).
(Note 1) During full-closed controlling, treated as an incremental encoder (setting value = 1) for internal control.
(Note 2) Do not refer to the read value of multi-turn data in increment mode and single-turn absolute mode. Multi-turn data can be
confirmed with the monitor screen and wave form graphic screen of PANATERM and the object 2341h-02h of EtherCAT.
Refer to the table below for the necessity/unnecessity of connecting the absolute data battery with
Pr0.15 “Absolute encoder setting”.
Absolute encoder type
Pr0.15 "Absolute encoder setup"
0, 2, 4
1, 3
With battery
Necessary
Unnecessary
Battery-less
Unnecessary