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5.2 Absolute Encoders
5.2.6 Position Management Method for Each Machine Operation Type
Setting the Machine Coordinate Origin
The following procedure sets the origin for non-simple absolute infinite axis position manage-
ment.
When the origin is set, the position where the axis stops is specified by using the distance from
the origin of the machine coordinate system. In other words, the position of the origin of the
machine coordinate system is determined by setting the offset from the origin of the encoder.
When the OL
eter is set to the value of the desired position to set the origin, the setting will be set as the cur-
rent position in the machine coordinate system.
Therefore, to set the origin of the machine coordinate system as the stop position when setting
the origin, set OL
The setting of OL
The following flowchart shows the procedure.
Move to the origin in STEP Mode.
Set the desired position
Set the origin with the ZSET command.
Settings completed for all axes?
Position Management
For non-simple absolute infinite axis position management, the MP3000 performs position
management in the following manner after the zero point is set.
1.
The pulse position and encoder position are always stored as paired information in
memory.
2.
The data in step 1 above is used as the power OFF pulse position and the power OFF
encoder position when the power supply is turned ON again.
3.
The pulse position is calculated from the relative position of the encoder with the follow-
ing formula:
Pulse position = Power OFF pulse position + (Encoder position − Power OFF encoder position)*
*
The portion in parentheses ( ) represents the travel distance (relative encoder position) while the power supply is
OFF.
5-38
48 (Zero Point Position Offset in Machine Coordinate System) setting param-
48 = 0.
48 is valid only when the ZSET command is executed.
START
Servo ON
Jog to near the origin.
in OL
48.
NO
YES
END
Repeat for
each axis.
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