Origin Settings; When Using An Absolute Encoder - YASKAWA SGD7S-R70A Product Manual

6.5 Origin Settings

6.5.1 When Using an Absolute Encoder

6.5

Origin Settings

It is necessary to define a reference position to operate a device or machine. This is done with
origin settings.
The origin settings depend on whether an absolute encoder or an incremental encoder is used.
6.5.1

When Using an Absolute Encoder

If you use an absolute encoder, it is not necessary to set the origin every time the power supply
to the equipment is turned ON.
However, when you set up the equipment, you must set Pn63C to the offset between the origin
of the absolute encoder and the position of the origin of the reference coordinate system
(called the machine coordinate system).
When you start a system that uses an absolute encoder, you must initialize the absolute
encoder and adjust the position of the machine origin. Then you must set the offset that defines
the origin of the reference coordinates.
Pn63C
Perform one of the following operations to set the offset.
• Execute utility function Fn066.
• Calculate the value and set it in Pn63C.
The relationship between the origin of the absolute encoder and the machine origin coordinate
system is shown in the following figure. Use the following formula to find a new absolute
encoder offset (Pn63C).
Pn63C = Current Pn63C + N - P
N: Current position of machine in new reference coordinate system
If this position is to be defined as the origin, then normally N is 0.
P: Current position of machine in current reference coordinate system
Reference (machine)
coordinate
Encoder coordinate
When using the linear type coordinate (Pn637 =
6-12
Origin (Incremental Encoder)
Absolute Encoder Offset (Absolute Encoder)
Setting Range Setting Unit
-1073741823 to
Reference unit
+1073741823
Ab olute encoder origin
Default Setting
0
Current origin in reference
coordinate y tem
(Origin of reference coordinate
y tem = Machine origin)
New origin of reference
coordinate y tem
= New machine coordinate
Current po ition of machine in
current reference coordinate y tem (P)
Current Pn6 C = −X
- ( P - N )
New Pn6 C
X X
Coordinate of current machine origin
in encoder coordinate y tem
0), set the calculated value in Pn63C.
n.
When Enabled Classification
After restart Setup
Current po ition of machine
Current po ition of machine in
new reference coordinate y tem (N)