Omron FQM1-MMA21, FQM1-CM001, FQM1-MMP21 operation manual Section, Program Description

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

7-7-11 Timing Chart of the Functions for Servo Drivers Compatible with Absolute Encoders

ON during 1 cycle

			50 ms
					Preset after 30 to 62.5 ms
	Absolute No. of Rotations
	Read (A610.07)
User program	High-speed Counter Start Bit
		(A610.00)
processing	Absolute PV Preset Bit
		(A610.06)
	RUN Signal Output Bit
Motion
Control		SEN output
Module's
internal	Absolute No. of Rotations
processing
	Read Completed Flag
	Rotation data:
		Phase A		Serial data (rotation data)
				approx.15 ms

Signals from	Phase B
Servo Driver

The high-speed counter starts 50 ms after start of the absolute No. of rotations read.

Perform absolute PV preset within 30 to 50 ms after the read is completed.

If the absolute No. of rotations read was successful, SEN output stays ON.

Absolute Present value	Counter value is not changed
	while reading rotation data.

Min: (50+60) ms

Typ: (50+90) ms

Max: (50+260) ms

The

Initial incremental pulses latest value

1 to 3 ms

30 to 62.5 ms

7-7-12 Sample Programs (Connecting an OMRON W-series Servo Driver)

Program Description

1,2,3... 1. With the Motion Control Module set to MONITOR mode, turning ON CIO 0000.01 (absolute origin define) presets the absolute origin as the ab- solute offset.

2.With the Motion Control Module set to MONITOR mode, turning ON CIO 0000.00 (absolute servo operation start) presets the absolute present value in A600 and A601.

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