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Setting the Origin of the Machine Coordinate System
After the absolute encoder is initialized, the reference position to operate the machine with the
MP3000 must be set.
The origin of the absolute encoder and the origin of the machine coordinate system will not
match, so they must be corrected. The reference for the origin of the machine coordinate sys-
tem is the origin of the absolute encoder. The deviation from the origin of the absolute encoder
is the correction value (offset), and this establishes the origin position of the machine coordi-
nate system.
When encoder position X is set as the origin of the machine coordinate system (0),
Example
OL
48 is set to -X.
Machine coordinate
Encoder coordinate
Origin of the absolute encoder
Each machine axis moves to the reference position for operation, and that position is the origin
in the machine coordinate system.
The negative of the value of IL
IL
16).
If the zero point of the machine coordinate system is set, the MP3000 will recognize the current
position when the power supply is next turned ON, as shown in the next section 5.2.5 Reading
Position Data When the Power Supply Is Turned ON. The zero point will not need to be set
again.
Current Value in the Machine Coordinate System
If an absolute encoder is used, the MP3000 calculates the axis position (i.e., the current posi-
tion in the machine coordinate system) as follows when the power supply is turned ON.
Current position in machine coordinate system (IL
Servo power supply is turned ON + Value of OL
Offset in Machine Coordinate System)
When IL
Example
the Servo power supply is turned ON is as follows:
OL
48 - IL
You can set this value of -9,900 in OL
dinate system as the machine coordinate origin.
1. Use IL
10 to make the machine coordinate reference position the reference, or use
IL
16 to make the current position in the machine coordinate system the reference.
2. The position when the servo power supply is turned ON is the value that is calculated with the
Important
following formula and then converted to reference units:
Multiturn data × Number of encoder pulses + Initial incremental pulses (position within one
rotation)
Refer to your SERVOPACK manual for details on initial incremental pulses (position within one
rotation).
16 (APOS) is written to OL
10 is 10,000 and OL
48 is 100, the negative value of the position when
10 = 100 - 10000 = -9900
5.2.2 Absolute Encoder System Startup
Origin of machine
coordinate system
OL
48
Encoder position (X)
48 (OL
10 or IL
16) = Position when the
48 setting parameter (Zero Point Position
48 to set the current position in the machine coor-
5.2 Absolute Encoders
48 = -
5-19
5
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