Panasonic A4P Series Setup Initialization of Absolute Encoder, Installation Place, Normal homing

Absolute System

When you make your own cable for 17-bit absolute encoder

When you make your own cable for 17-bit absolute encoder, connect the optional battery for absolute encoder, DV0P2060 or DV0P2990 as per the wiring diagram below. Connector of the battery for absolute encoder shall be provided by customer as well.

<Cautions>

Install and fix the battery securely. If the installation and fixing of the battery is not appropriate, it may cause the wire breakdown or damage of the battery.

Refer to the instruction manual of the battery for handling the battery.

•Installation Place

1)Indoors, where the products are not subjected to rain or direct sun beam.

2)Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron powder or chips and etc.

3)Well-ventilated and humid and dust-free place.

4)Vibration-free place

Wiring Diagram

Junction connector for￿

Pin number when a connector is used

Twisted￿

Connector, CN X6￿

encoder cable￿

Pin number when a cannon plug is used

pair

(Optional connector kit)

(Optional connector kit)

7

(H)

1

E5V

E5V

8

(G)

2

E0V

E0V

1

(T)

1

1 Battery

5

BAT+

2

(S)

2

BAT+

BAT+

2

6

PS

BAT–￿

BAT–￿

BAT–￿

PS

PS

4

(K)

Connector, ZHR-2￿

FG (Case)

5

(L)

(by J.S.T.)

PS

3

(J)

Battery for absolute encoder (Option)￿

Part No. DV0P2060￿

FG

DV0P2060 or DV0P2990

Lithium battery by Toshiba Battery Co., Ltd.￿

ER6V 3.6V 2000mAh

50

Title￿

Part No.￿

Manufacturer￿

Lead wire

Connector￿

ZMR-2￿

J.S.T.￿

Connector pin￿SMM-003T-P0.5

￿ J.S.T.￿

Connector for absolute encoder connection￿

Clamping Jig

YRS-800

J.S.T.

(To be provided by customer)

Setup (Initialization) of Absolute Encoder

Execute the setup of absolute encoder in the following cases.

•Initial setup of the machine

•When absolute system down error protection (alarm No. 40) occurs

•When the encoder cable is pulled out

A home position can be set in the two ways	*For a normal operation, calculate the travel using a value ￿
below.		that the home position is subtracted from the motor position.
		Servo Driver
• Normal homing
		Step￿	EEPROM￿		Battery for ￿
(Refer to “Homing Operation” on page 114.)		Operation￿			Absolute￿
			(Home position)
		￿			Encoder
Execute one of the eight types of homing op-		Jog￿					Servo Motor
		Operation￿	Motor￿
erations and store that position in EEPROM		￿				Single-turn data
		Homing ￿	Position￿
as the position. Positioning is performed		Operation	(Absoluteposition )￿			Multi-turn data
				CN X6
based on the stored position as the home							Encoder

position even after the power supply reset.

*The motor position is stored in EEPROM when homing has been completed.

• Define “0” position of absolute encoder as a home position

Clear an absolute encoder so that a machine home position and the “0” position of absolute encoder can match with each other. By using a data of the absolute encoder after the power supply reset, positioning is performed based on the “0” position of absolute encoder as the home position.

The absolute encoder is cleared through a console or “PANATERM®”. A multi-turn data only is cleared by clearing the absolute encoder.

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