Omron FQM1-CM001, FQM1-MMA21, FQM1-MMP21 operation manual 211

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

000005

0.01

SET

(000026)

ABS origin

2.01

define

ABS origin define

000006

PV preset as ABS offset 40 ms after completing ABS No. of rotations read

(000028)

7

5

4

2.01

A610.0

A608.0

A608.0

TIMH

ABS origin

ABS No. of

ABS No. of

ABS No. of

012

define

rotations

rotations

rotations

read

read

read error

#4

SEN output completed

TIM012

DIFU

ABS offset

A610.05

preset

5

A609.0

DIFD

ABS offset

2.14

preset

000007

For ABS No. of rotations read error

(000039)

7

5

4

2.01

A610.0

A608.0

A608.0

RSET

ABS origin ABS No. of

ABS No. of

ABS No. of

ABS No.

A610.0

7

of rotations

define

rotations

rotations

rotations

read

read

read

read error

SEN output completed

RSET

ABS origin

2.01

define

000008

Servo operation after completing ABS PV preset

(000045)

2.15

SET

Servo

Servo operation

1.00

operation

start

000009

Clear "reading ABS PV" status after comp

leting ABS PV preset

(000047)

2.15

RSET

Reading

Servo operation

2.00

ABS PV

000010

Clear "defining ABS origin" status after presetting ABS offset

(000049)

2.14

RSET

Defining

2.01

ABS origin

000011

END

(000051)

See note.

SEN output OFF

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

211