C Fixed Parameter Setting According To Encoder Type And Axis Type - YASKAWA MP2000 Series User Manual

Coordinate Zero Point is
Determined By
Zero point return method and
zero point position offset
(OL 48).
The way the axis returns to zero
point depends on the motion pattern.
(See the relevant SERVOPACK
manual.)
Encoder zero-point position
(incremental pulses) and Machine
Controller coordinate zero point
offset (OL 48).
Encoder zero-point position is
set by encoder initialization.
Encoder zero-point position
(incremental pulses) and Machine
Controller coordinate zero point
offset (OL 48).
Encoder zero-point position is
set by encoder initialization.
Encoder zero-point position
(incremental pulses) and Machine
Controller coordinate zero point
offset (OL 48).
Encoder zero-point position is
set by encoder initialization.
Encoder zero-point position
(incremental pulses) and by
executing ZSET (Set Zero Point)
command.
Appendix C Fixed Parameter Setting According to Encoder Type and Axis Type
Precautions
When Turning the Power ON/OFF
Requires zero point return
operation after turning ON the power.
When zero point return operation is
not performed, the position when the
power is turned ON becomes the
coordinate zero point. In this case,
if ZSET (Set Zero Point) command is
not executed, the software limit
function will not be valid.
Requires no special processing since
the encoder retains the position data
while the power to the Machine
Controller is OFF.
However, the ZSET (Set Zero Point)
command must be executed to
validate the software limit
function.
While the power to the Machine
Controller is OFF, the encoder
retains the position data within one
turn (incremental pulses), however,
it does not retain multiturn data.
Requires to execution of the ZSET
(Set Zero Point) command after
turning ON the power.
Requires no special processing since
the encoder retains the position data
while the power to the Machine
Controller is OFF.
However, the ZSET (Set Zero Point)
command must be executed after
turning ON the power. (If not an
alarm will occur.)
Requires processing to request
coordinate setup (set bit 7 of
OW 00 to ON.)
The current position coordinate must
be backed up even during normal
operation.
Both processes can be implemented
by using a ladder program.
Setting Mode
Either Absolute mode or in
Incremental Addition mode
(relative value).
Depends on the setting of
OW 09, bit 5.
31 31
Setting range: -2 to 2 -1
In Incremental Addition mode
(relative value)
Either Absolute mode or in
Incremental Addition mode
(relative value).
Depends on the setting of
OW 09, bit 5.
31 31
Setting range: -2 to 2 -1
Incremental Addition mode
(relative value)
Incremental Addition mode
(relative value)
Incremental Addition mode
(relative value)
How to Change the
Coordinate Zero Point
The coordinate zero point
offset is always calculated.
The coordinate zero point
will be changed whenever
the OL 48 is changed.
When setting the current
position as the zero point,
set OL 48 to the result of
48 − IL
OL 10.
Executing ZSET (Set Zero Point)
command will re-set the
coordinate system.
Set OL 48 to the coordinate
value to be set, and then execute
ZSET command.
App
A-11