Omron FQM1-MMP21, FQM1-CM001, FQM1-MMA21 operation manual Section, 0.00

Functions for Servo Drivers Compatible with Absolute Encoders

Section 7-7

0.00

000000

SET

(000000)

SEN output ON

ABS servo

ABS No. of

A610.07

operation

rotations

start

read

0.01

ABS origin

define

0.00

000001

SET

(000003)

ABS servo

2.00

operation start

000002

Counter starts 50 ms after SEN output

(000005)

A610.07

TIMH

ABS No. of

010

rotations

read

#5

See

note.

SEN output

TIM010

A610.00

Start high-

speed counter

000003

Preset the PV to the CNT 40 ms after reading ABS No. of rotations

(000009)

1-Servo operation after completing ABS PV preset

2.00

A610.07

A608.05

A608.04

TIMH

Reading

ABS No. of

ABS No. of

ABS No. of

011

ABS PV

rotations

rotations

rotations

read

read

read error

#4

See

completed

note.

SEN output

TIM011

DIFU

Preset

A610.06

ABS PV

Servo operation

A610.06

after completing

DIFD

ABS PV preset

Servo

Preset ABS

2.15

operation

PV

000004

For ABS No. of rotations read error

(000020)

2.00

A610.07

A608.05

A608.04

RSET

Reading

ABS No. of

ABS No. of

ABS No. of

Read ABS

A610.07

SEN output OFF

ABS PV

rotations

rotations

rotations

No. of

read

read

read error

rotations

SEN output completed

RSET

Reading

2.00

ABS PV

Note Adjust the timer value of TIMH(15) instruction (10 ms timer) to match to the system requirements (such as the absolute encoder's resolution setting). When more precision is required, use the TMHH(540) instruction (1 ms timer).

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