10.3 Using an Absolute Encoder
10-19
10
(4) Managing Positions when the Simple Absolute Infinite Length Position Control Func-
tion Is Not Used
When power is turned ON to the system, the position managed by the MP2100/MP2100M is calculated from the
relative absolute position in pulse units using the following equation.
The modularized position and absolute position are always stored as paired information in backup memory. This
information is used the next time power is turned ON as the modularized position and the absolute position at
shutdown to find the relative encoder position in pulses.
• Modularized position = Modularized position at power OFF
+ (Absolute position
-
Absolute position at power OFF)
*
* The portion in parentheses (
) represents the moving amount while the power is
OFF.
■
The positions are defined as follows:
• Absolute position: The position information in the Absolute Encoder
(Multiturn data
×
Number of encoder Initial increment pulses)
• Modularized position: The position information from the MP2100/MP2100M converted to pulses.
INFO