Instruction manual

10. AUXILIARY / APPLIED FUNCTIONS
10 − 3
10.2 Improved Current Value Management
By adding the functions described below, current value management when using
an absolute encoder has been improved.
(1) Added functions
(a) An encoder data validity check is now possible during operation.
• It is checked whether the amount of change at the encoder in 3.5ms
intervals corresponds to rotation within 180° at the motor shaft. (If
abnormal, an error is displayed.)
• Consistency between the encoder data and the feedback position
controlled at the servo amplifier is checked. (If abnormal, an error is
displayed.)
(b) Addition of the current value history monitor has enabled monitoring of the
following data at a peripheral device.
• Encoder current value/servo command value/monitor current value when
the power is switched ON.
• Encoder current value/servo command value/monitor current value when
the power is switched OFF.
• Encoder current value/servo command value/monitor current value when
a home position return is performed.
(c) By setting the allowable travel while the power is OFF, a change in the
encoder data to a value outside the setting range while the power is OFF
can now be checked when the servo amplifier power is turned ON. (If
abnormal, an error is displayed.)
(2) Restrictions due to the combination of positioning OS and positioning software
package
The following restrictions apply, depending on whether an allowable travel while
the power is OFF is set or not.
Positioning
OS Version
Positioning Software
Package Version
Restrictions
R or later
(Note-1)
There are no restrictions.
(When a new version positioning OS is installed in place of
an old version, it is essential to execute a home position
return.)
V or later
Q or earlier
(Note-2)
•
Current value history monitor cannot be used.
•
Since the allowable travel while the power is OFF cannot
be set, a minor error (error code: 901 or 9010) occurs
when the servo amplifier power is turned on. (When a new
version positioning OS is installed in place of an old
version, it is essential to execute a zeroing. (Note-3)
R or later
(Note-1)
U or earlier
Q or earlier
(Note-2)
None of the function upgrades can be used
(Note-1): Allowable travel while the power is OFF can be set.
(Note-2): Allowable travel while the power is OFF cannot be set.
(Note-3): Since the allowable travel while the power is OFF cannot be set when using an old version
positioning software package a minor error is displayed, but this poses no problem to
operation.