4 Feed Axis Operation
4.5.4 Initializing the Absolute Encoder
4-18
(1) Initialization Procedure
Refer to
8.5.4 Absolute Encoder Setup
in
Σ
-V-SD Series User’s Manual
(Manual No.: SIEP S800000 78) for
details on how to reset an absolute encoder with the SigmaWin for
Σ
-V-SD (MT).
Use the following procedure to initialize an absolute encoder with the Write Memory command (MEM_WR:
1E hex) from the host controller.
After initialization, always turn the power supply to the SERVOPACK OFF and ON again.
1.
Make sure that the servo is OFF for an axis before you initialize the absolute encoder.
If the servo is ON, use the Servo OFF command (SV_OFF: 32 hex) to turn OFF the servo.
2.
Execute the MEM_WR (1E hex) command as the MECHATROLINK-
III
main command or
subcommand.
Command = MEM_WR (1E hex)
Address = 80004000 hex
Mode/Data_Type = 12 hex
Size = 0001 hex
Data = 1008 hex (Request code: 1008 hex is the absolute encoder reset operation.)
Processing has finished when RCMD is MEM_WR (= 1E hex) and CMD_STAT.CMDRDY is 1.
If an error occurs, perform step 5 and end the adjustment operation.
3.
Send the following data and begin preparations for execution.
Command = MEM_WR
Address = 80004002 hex
Mode/Data_Type = 12 hex
Size = 0001 hex
Data = 0002 hex
Processing has finished when RCMD is MEM_WR (= 1E hex) and CMD_STAT.CMDRDY is 1.
If an error occurs, perform step 5 and end the adjustment operation.
4.
Send the following data to initialize the absolute encoder.
Command = MEM_WR
Address = 80004002 hex
Mode/Data_Type = 12 hex
Size = 0001 hex
Data = 0001 hex
Processing has finished when RCMD is MEM_WR (= 1E hex) and CMD_STAT.CMDRDY is 1.
If an error occurs, perform step 5 and end the adjustment operation.
5.
Send the following data to end the adjustment operation.
Command = MEM_WR
Address = 80004000 hex
Mode/Data_Type = 12 hex
Size = 0001 hex
Data = 0000 hex
Processing has finished when RCMD is MEM_WR (= 1E hex) and CMD_STAT.CMDRDY is 1.
