5.2 Absolute Encoders
5.2.6 Position Management Method for Each Machine Operation Type
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5
Machine-Specic Motion Control
Precautions for Parameter Settings
The names of some of the motion parameters and SERVOPACK parameters are different even
though they have the same meaning. Set the values of these motion parameters and SERVO-
PACK parameters so that they are consistent with each other.
Encoder Selection
Set the parameters as shown in the following table for an axis that performs absolute position
detection.
Number of Pulses Per Motor Rotation
Refer to the following table and set fixed parameter No. 36 (Number of Pulses Per Motor Rota-
tion) according to the number of encoder bits (resolution). This setting can be used for all SER-
VOPACK models.
The setting of the Pn212 (Number of Encoder Pulses) SERVOPACK parameter is not used for
control with the MP3000. It is not necessary to change the setting of Pn212.
• Encoder Position
The encoder position is the absolute encoder position information (Multiturn data × Number of
encoder pulses + Initial incremental pulses (position within one rotation)).
The unit for this position information is pulses.
The actual position management is performed in the set reference units, so you do not need to
be concerned about it.
• Pulse Position
The pulse position is the position information managed by the MP3000 converted into pulses.
The unit for this position information is pulses.
The actual position management is performed in the set reference units, so you do not need to
be concerned about it.
Typ e Parameter Setting
Motion Parameter
Fixed Parameter No. 30
(Encoder Selection)
1: Absolute encoder
SERVOPACK
Parameter
Pn002 = n.X
(Encoder Usage)
0: Use the encoder according to encoder specifications.
2: Use the encoder as a single-turn absolute encoder.
Encoder Resolution
(Number of Bits)
Fixed Parameter No. 36 (Number of
Pulses Per Motor Rotation)
12 4,096
13 8,192
15 32,768
16 65,536
17 131,072
20 1,048,576
22 4,194,304
24 16,777,216
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