INCON–M83 User Manual

No.

Function Description

Setting Value

PA01

Value: 00X0

X: command select

X=0, invalid

X=1, inner register

X=2, EtherCAT communication

Make sure it is EtherCAT mode before connecting to M83.

This setting is valid after reboot.

0020

PA06

Electronic gear ratio, the resolution of position output per round is:

X*(PA07)/(PA06)

X means the corresponding encoder resolution in PA43.

When the soft limit of controller is engaged, controller will take current setup of mechanical parameters and check if the position counter in the drive would overflow within the boundary of soft limit. If yes, a warning will pop up. Adjust PA06 and re-engage the soft limit to see if it still has overflow issue. Recommended value of PA06 is power of 2 (e.g., 2, 4, 8).

1 (increase if needed)

PA07

1

PA28

Absolute encoder setting.

0: Incremental mode.

1: Absolute mode. backup battery is needed.

This setting is valid after reboot.

1

PA29

When PA29 is set as 1, current position will be set as origin position.

When first time using SDP or the encoder cable has been unplugged and plugged or the backup battery has been removed while power off, it will occur AL.2A or AL.2C which mean ABS encoder error.(Note.) In this situation, EtherCAT communication will fail. Set PA29 to reset the ABS encoder and clear the alarm to recover the communication.

0Ρ1

PA43

Encoder resolution

PA43=0, 20 bit Encoder, 1048576

PA43=1, 22 bit Encoder, 4194304

PA43=2, 23 bit Encoder, 8388608

PA43=3, 24 bit Encoder, 16777216

Value of "Setting→Advanced→X (or Y, Z) Axis→Motor→PosObj Resolution" in M83 should set with the following equation.

X*(PA07)/(PA06)

X means the corresponding encoder resolution in PA43.

Read Only

PD01

Value: UZYX

X=0, SON is controlled by external signal. (Servo Enable)

X=1, SON is short-circuit without actual wiring.

Y=0, LSP is controlled by external signal. (Positive Limit Switch)

Y=1, LSP is short-circuit without actual wiring.

Z=0, LSN is controlled by external signal. (Negative Limit Switch)

Z=1, LSN is short-circuit without actual wiring.

U=0, EMG is controlled by external signal. (Emergency)

U=1, EMG is short-circuit without actual wiring.

Limit and emergency situations are determined and controlled by TPCU, so bypass these signal here.

This setting is valid after reboot.

1110

Note:

ABS Encoder Abnormal.

Alarm Code

Cause

Inspection

Remedy

AL.2A

The voltage of encoder battery is low.

Check the voltage of encoder battery whether is less than 2.45 V.

After replacing battery, set PA29 to reset the ABS encoder.

Bad contact between encoder and battery, or the battery power lines disconnected.

1. Check the encoder wirings.
2. Check the contacts between the encoder power lines and battery box.

After the wirings repairing, set PA29 to reset the ABS encoder.

AL.2C

Replace the encoder batter when the power of servo drive has turned off.

Not to replace the encoder battery unless the power of servo drive i s on.

Set PA29 to reset the ABS encoder.

The absolute coordinate initialization has not executed when the absolute coordinate system operated.

Check all requirements of ABS system are ready.

Set PA29 to reset the ABS encoder.