PM Motor Z Channel with ACR7V or IPA

P Series motors (PM-FAL, PM-FBL, PM-FCL) include BiSS multi-turn absolute encoders. These motors do not produce a Z-pulse or index mark. This means that AcroBasic INTCAP-based commands will not function for Z-Marker modes.

1 Recommended Solution
2 INTCAP-Based Commands
3 INTCAP Modes

Recommended Solution

Replacing the MSEEK command: Because the PM motor have absolute encoders it is still possible to position to precise location.

First, use the JOG RES, GEAR RES and CAM RES commands to move all offset into the current position.

Next use the NORM command to resolve the position to a single revolution. The example below is using degrees: 360 = 1 rev.

Now command a move to 0 or whatever position was selected within a single revolution.

AXIS0 CAM OFF
AXIS0 CAM RES
AXIS0 GEAR RES
AXIS0 JOG OFF
AXIS0 JOG RES
NORM X360 
X0

This will provide a repeatable position within a single turn as long as the RES command is not used to reset the relative axis position. To retrieve the absolute position after a RES command has been issued, use the following command.

ENC0 RES

INTCAP-Based Commands

INTCAP, MSEEK, HSINT, CAM ON TRG and GEAR ON TRG

INTCAP Modes

The highlighted modes are not supported with PM motors