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Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7
Note Adjust the timer value of TIMH(15) instruction (10 ms timer) to match to the
system requirements (such as the absolute encoder's resolution setting).
When more precision is required, use the TMHH(540) instruction (1 ms timer).
000000
(000000)
0.00
SET
A610.07
0.01
000001
(000003)
0.00
SET
2.00
000002
(000005)
Counter starts 50 ms after SEN output
A610.07
010
#5
A
610.
00
000003
(000009)
Preset the PV to the CNT 40 ms after reading ABS No. of rotations
1-Servo operation after completing ABS PV preset
2.00 A610.07 A608.05 A608.04
011
#4
A610.06
A
610
.06
DIFD
2.15
000004
(000020)
For
ABS No. of rotations read error
2.00 A
610
.07 A
608
.05 A
608
.04
RSET
A
610
.07
RSET
2.00
ABS servo
operation
start
ABS origin
define
SEN output ON
ABS servo
operation start
ABS No. of
rotations
read
ABS No. of
rotations
read
SEN output
TIM010
TIMH
Start high-
speed counter
TIMH
Reading
ABS PV
ABS No. of
rotations
read
SEN output
ABS No. of
rotations
read
completed
ABS No. of
rotations
read error
TIM011
Preset ABS
PV
Preset
ABS PV
DIFU
Servo operation
after completing
ABS PV preset
Servo
operation
Reading
ABS PV
ABS No. of
rotations
read
SEN output
ABS No. of
rotations
read
completed
ABS No. of
rotations
read error
SEN output OFF
Read ABS
No. of
rotations
Reading
ABS PV
See
note.
See
note.