Omron FQM1-CM001, FQM1-MMA21, FQM1-MMP21 7-7-1Applicable Models, 7-7-2Overview, Section

Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7

•Starting instruction: ACC(888) (continuous or independent), deceleration, absolute circular

	Output status		Direction and starting conditions
			CW		CCW
			Target	Target	Target	Target
			position >	position <	position >	position <
			Present	Present	Present	Present
			position	position	position	position
Absolute cir-		CW output	No	Yes	No	No
cular		CCW output	No	No	No	Yes

7-7 Functions for Servo Drivers Compatible with Absolute Encoders

7-7-1 Applicable Models

Model	Functions
FQM1-MMP21	Motion Control Module for Pulse I/O
FQM1-MMA21	Motion Control Module for Analog I/O

The examples in this section demonstrate the functions with high-speed counter 1 only. When using high-speed counter 2, replace the Auxiliary Area addresses with the appropriate addresses for high-speed counter 2.

7-7-2 Overview

Either of the following types of pulse input signals can be input to the unit:

•Pulse trains from normal incremental encoders, etc.

•Encoder output data (e.g., OMRON's W Series) of Servo Drivers compat- ible with absolute encoders (multi-turns absolute encoders)

The following explains the functions that are compatible with the latter, Servo

Drivers compatible with absolute encoders.

Note Refer to 7-5 Pulse Inputs for details on pulse train inputs from devices such as normal incremental encoders

To input the encoder output data from a Servo Driver compatible with an absolute encoder, the SEN output signal from the Motion Control Module has to be connected to the Servo Driver. When starting an operation, the number of multi-turns (to phase A as serial data) and the initial incremental pulse (to phase A/B as pulse) are input once as the absolute position information.

After that, the position data during operations are input with the phase differ- ential input (using normal counter functions).

Using a Servo Driver compatible with an absolute encoder enables the con- trolled operation to be started from the position at turning on the power with- out performing any origin searches.

199