9.3
Absolute Position Detection for Finite Length Axes
9-9
* 1. This value depends on the setting of Pn212 (PG dividing ratio). The values in the
table are the maximum values.
* 2. Because the maximum value of Pn201 (PG dividing ratio) is 16384, the maximum value
with a 17-bit encoder is also 16384.
• With SERVOPACKs in the
Σ
-III series
* This value depends on the setting of Pn212 (PG dividing ratio). The values in the table are
the maximum values.
[ d ] Max. Revolution of Absolute Encoder/Multiturn Limit Setting
These parameters determine the maximum value of the number of encoder turns managed by the
SERVOPACK and MP2300.
The setting is determined by the SERVOPACK that is used and the type of axis (MP2300 fixed
parameter 1, bit 0). Set the parameters as shown in the following table when using an axis as a finite
length axis.
9.3.2 Setting the Zero Point for a Finite Length Axis
This section describes the procedure for setting the zero point (i.e., the absolute zero point or the zero
point of the machine coordinate system) for a finite length axis. It also describes the procedures for
storing the zero point offset.
16
16384
∗
1
6: Pulse A/B mode (
×
4)
17
16384
∗
1,
∗
2
6: Pulse A/B mode (
×
4)
Number of Bits
Fixed Parameter 36
(Encoder Resolution in Pulses/Resolution)
Fixed Parameter 22
(Pulse Counting Mode)
17
16384
∗
6: Pulse A/B mode (
×
4)
20
262144
∗
6: Pulse A/B mode (
×
4)
If the above settings are not used, correct motion control will not be performed. Set the parameters carefully.
Applicable
SERVOPACK
MP2300
Fixed Parameter 38
(Max. No. of Absolute Encoder Turns)
SERVOPACK
Parameter Pn205
(Multiturn Limit Setting)
Σ
-II,
Σ
-III Series
65535 65535
Σ-
I Series
99999
－
If the above settings are not used, the position may be offset. Set the parameters carefully.
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