Specifications

Examples and tips
PROGRAMMING MANUAL 235
Revision 5.0
To guarantee the correct overflow both in Trajexia and in the Servo Driver,
we must set two additional axis parameters: REP_DIST = 60, and
REP_OPTION = 1. With these settings, the command MOVE(35) rotates the
table 35 degrees in positive direction. The range of possible MPOS and
DPOS values is from 0 degrees to 60 degrees.
Caution
You must initialize the absolute encoder before you use it for the
first time, when the battery is lost during power off and when the
multiturn limit setting in the parameter Pn205 is changed. The ini-
tialization can be done on the display of the Servo Driver or with
the software tool. For more detail on initialising absolute encoder,
please see the Sigma-II Servo Driver manual.
Caution
It is possible to reset the multiturn counter, but it is not possible to
reset the position within one turn (the fraction from 0 to and exclud-
ing 1). To adjust zero offset, use the parameter Pn808. For more
details see the NS115 MECHATROLINK-II Interface Unit manual.
Caution
At power up, the absolute encoder position is read from the motor
and written to MPOS using the following conversion:
•For MPOS:
• This is correct if
• If this value is greater than 2
24
, MPOS can have incorrect val-
ues at start-up. To avoid this problem, add the program code
DEFPOS = ENCODER/UNITS after all UNITS initializations.
Caution
To make sure that the absolute position is always correct, you
must make sure that
and that
Note that this is not obvious for the high-resolution encoders of the
Sigma-V motors.
A
bsolute_MPOS = abs_position_encoder
UNITS
1
Pn202
Pn203
.
.
(Pn205 + 1)
Pn202
Pn203
..
encoder_counts < 2
24
(Pn205 + 1)
..
encoder_resolution < 2
32
(Pn205 + 1)
.
Pn202
Pn203
.
encoder_resolution < 2
32