When connecting to an absolute system, how can I set up the absolute encoders to read the positions ！

Step 1: 

Ensure that parameter P2-69 is set correctly. 

P2-69=0: Incremental mode. Servo motor with absolute encoder can be operated as an incremental motor.

P2-69=1: Absolute mode. (This setting is only available for the servo motor with absolute encoder. When an incremental servo motor is connected, if P2-69 is set to 1, a fault will be detected and the fault code, AL069 will be shown on the drive’s LCD display.)

This parameter is effective only after the servo drive is restarted (after switching power off and on).



Step 2:

Connect absolute battery boxes. The battery boxes should be properly connected to both ends of the servo drives and servo motors. When operating the absolute system for the very first time, a fault code, AL060 is shown when the power comes on since the initialization procedure is still not complete. The fault is kept until the initialization procedure is finished.



Step 3:

Execute initialization procedure. Before the initialization procedure is finished, a fault code, AL060 is displayed. There are three methods for clearing AL060 as in the following.

(1) Parameter settings:

The procedure is P2-08=271 and then P2-71=1. Then, the fault code, AL060 is cleared and the number, 00000 is shown on the drive’s LCD display. 

This mode is only for modes besides PR mode that already has a homing procedure to apply. When the parameter P2-71 is set to 1 (one) via digital keypad or communication, the system starts initialization. In order to protect from accidentally writing on P2-71 to reset an absolute system, the number 271 should be written to P2-08 to unlock the writing of 1 (one) to P2-71. 

However, when the voltage level of the battery has fallen below its minimum allowable value (3.1V), a fault code, AL061 appears on the drive’s LCD display. 

Previous：Single-turn versus Multi-turn
Next：Roundss Analog Output Linear Encoder Draw Wire Sensor