Terminology - YASKAWA SVC User Manual

11.6 Terminology

11.6 Terminology
 Phase-C pulse
The encoders on Yaskawa Servomotors output three types of pulses: phase A, phase B, and
phase C. A phase-C pulse is a signal that reverses once every motor rotation. It is also called
the origin pulse. Some manufactures may also call this type of signal phase Z or the reference.
 POSMAX
This is the infinite-length axis reset position.
Refer to the following section for details.
Fixed Parameter Details (page 3-27)
 Encoder Position
The encoder position is the absolute encoder position information (Multiturn data × Number of
encoder pulses + Initial incremental pulses (position within one rotation)).
 Override
For the MP3000, this term is used to mean changing the setting to use a new one.
 Machine Coordinate System
This is the basic coordinate system that is set by the execution of the ZRET (Zero Point Return)
or ZSET (Set Zero Point) command. The MP3000 manages positions in the machine coordinate
system.
For systems that use an incremental encoder or that use an absolute encoder as the incremen-
tal encoder, the machine coordinate system is automatically set by the first origin return opera-
tion after the power supply is turned ON.
For systems that use an absolute encoder, the machine coordinate system is set automatically
after the power supply is turned ON.
 Deceleration Limit Switch
This is the limit switch for deceleration.
For SERVOPACKs, the deceleration limit switch for origin return is connected to the Origin
Return Deceleration Switch Signal (/DEC).
 Command Execution
A motion command is executed when a command code is set to the Motion Command param-
eter register (OW08).
 Absolute Position Calculation
You can use the following formula to find the absolute position.
Absolute position (P) = N × RP + PO
N: Number of rotations from the absolute reference
PO: Absolute reference position
RP: Number of feedback pulses per motor rotation
11-40
position (multi-turn data)
(initial incremental pulses)
Data maintained by the abso-
lute encoder
Constant determined by the
number of bits supported by
the Servomotor