YASKAWA SVC User Manual page 610

Setting Method for the
Coordinate System Origin
The coordinate system
origin is set by the origin
return operation and the
Zero Point Position Offset
(OL48). How the ori-
gin is determined during
the origin return operation
depends on the operating
pattern. (Refer to the rele-
vant SERVOPACK manual
for details.)
The origin is set according
to the OL48 setting
parameter (Zero Point
Position Offset in Machine
Coordinate System) of the
MP3000 and the origin of
the encoder (incremental
pulses). The origin of the
encoder is set by resetting
the encoder.
The origin is set according
to the OL48 setting
parameter (Zero Point
Position Offset in Machine
Coordinate System) of the
MP3000 and the origin of
the encoder (incremental
pulses). The origin of the
encoder is set by resetting
the encoder.
The origin is set according
to the OL48 setting
parameter (Zero Point
Position Offset in Machine
Coordinate System) of the
MP3000 and the origin of
the encoder (incremental
pulses). The origin of the
encoder is set by resetting
the encoder.
The coordinate system
origin is set based on the
origin of the encoder
(incremental pulse) and
the execution of the Set
Zero Point command.
11.4 Setting Fixed Parameters According to Encoder Type and Axis Type
Precautions When Turning the
Power Supply OFF and ON
Again
An origin return operation must
be performed after the power
supply is turned ON. If an origin
return operation is not per-
formed after the power supply is
turned ON, the position when
the power supply is turned ON
becomes the origin. In this case,
software limits are not enabled
until the Set Zero Point com-
mand is executed.
No particular processing is nec-
essary because the encoder
stores the position information
even when the power supply to
the MP3000 is turned OFF. How-
ever, the Set Zero Point com-
mand must be executed to use
software limits.
The encoder stores the position
information for within one revolu-
tion (initial incremental pulse)
even when the power supply to
the MP3000 is turned OFF, but
does not store the rotational
data (multiturn data).
The Set Zero Point command
must be executed after the
power supply is turned ON.
No particular processing is nec-
essary because the encoder
stores the position information
even when the power supply to
the MP3000 is turned OFF. How-
ever, the Set Zero Point com-
mand must be executed after
the power supply is turned ON.
(An alarm occurs if this operation
is not performed.)
When the power supply is turned
ON, a request must be made to
set up the coordinate system
(set bit 7 in OW00 to 1
(ON)). The current coordinate
system must also be backed up
during normal operation. Both of
these operations are performed
in a ladder program. Refer to the
following section for details.
Creating Ladder Programs for
Infinite Axis Position Manage-
ment (page 5-40)
Specification Method
Both absolute value speci-
fications and relative value
specifications (incremen-
tal addition method) can
be used. Which method is
used depends on the set-
ting of bit 5 in
OW1C.
31 31
Setting range: -2 to 2
− 1
Relative value specifica-
tions (incremental addi-
tion method) are used.
Both absolute value speci-
fication and relative value
specification (incremental
addition method) can be
used. Which method is
used depends on the set-
ting of bit 5 in
OW1C.
31 31
Setting range: -2 to 2
− 1
Relative value specifica-
tions (incremental addi-
tion method) are used.
Relative value specifica-
tions (incremental addi-
tion method) are used.
Relative value specifica-
tions (incremental addi-
tion method) are used.
Method for Changing
the Coordinate Sys-
tem Origin
If OL48 is
changed, the coordi-
nate system origin is
also changed because
the origin offset value
for OL48 is
always calculated
automatically.
To set the current
position as the origin,
calculate OL48 -
IL10 and set
that value for
OL48.
The coordinate system
is reset when the
ZSET (Set Zero Point)
command is executed.
Set the coordinate
value you want in
OL48, then exe-
cute the Set Zero
Point command.
11-37
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