Setting The Origin - YASKAWA SGD7S Product Manual

12.2.3

Setting the Origin

There are the following two ways to set the origin when an absolute encoder is used.
Editing Parameters to Set Origin
Use the following procedure to set the origin by editing parameters.
1.
Use continuous operation or other means to move the axis to the origin position of the
machine.
2.
Read the current position.
• Read the current position from the response data.
• Use an explicit message to read the Current Position attribute
3.
Reverse the sign of the current position and write it to the parameter.
For example, if the current position is 1,000, write -1,000 to PnB09.
4.
Reset the Module.
When the Module is reset, the data set in PnB09 will be written to nonvolatile memory in the SERVO-
PACK.
Using an Explicit Message to Set Origin
Use the following procedure to set the origin with an explicit message.
1.
Use continuous operation or other means to move the axis to the origin position of the
machine.
2.
Write a value to attribute 17 of object 0x24.
It does not matter what value is used. The offset amount will be calculated in the SERVOPACK and
written to PnB09.
3.
Reset the Module.
When the Module is reset, the data set in PnB09 will be written to nonvolatile memory in the SERVO-
PACK.
12.2 Origin Returns

12.2.3 Setting the Origin

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