Reset Absolute Encoder (Abs_Rst) - YASKAWA MP2100 Series User Manual

8.22 Reset Absolute Encoder (ABS_RST)

The ABS_RST command resets the multiturn data in the absolute encoder to 0. If an Encoder Backup Alarm
(A.810) or Encoder Checksum Alarm (A.820) occurs when the ABS_RST command is executed, the encoder
will be reset. The ABS_RST command can be executed to reset the encoder's multiturn data to 0 when these
alarms occur or when the machine is being used for the first time.
(1) Operating Procedure
No.
1 Communication is synchronized with SERVOPACK.
2 The Servo OFF condition.
3 Motion command execution has been completed.
Execute the ABS_RST motion command.
• Set OW 08 to 22.
Any alarms will be cleared, and the multiturn
data in the absolute encoder will be set to 0.
• IW 08 will be 22 during command
execution.
• IB 090 will be ON during command
processing.
Absolute encoder reset is completed.
• IW 08 will be 22 and IB
OFF.
• IB 093 will be OFF.
• IB 097 will be ON.
• IB 000 will be OFF.
Execute NOP motion command.
• Set OW 08 to 0.
(2) Holding and Aborting
The Command Pause bit (OB
Processing will be canceled if a communication error occurs while the command is being executed and a com-
mand error end will occur.
(3) Related Parameters
(a) Setting Parameters
Parameter
OB 000 Servo ON
OW 08 Motion Command
OB 090 Command Pause
OB 091 Command Abort
Execution Conditions
090 will be
090) and the Command Abort bit (OB
Name
Turns the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn OFF the power before setting the Motion Command Code (OW
22.
Starts resetting the absolute encoder when this parameter is set to 22. Even if this
parameter is set to 0 during command execution, it will be ignored and execution
will be continued.
This parameter is ignored for ABS_RST command.
This parameter is ignored for ABS_RST command.
8.22 Reset Absolute Encoder (ABS_RST)
Confirmation Method
IB 000 is ON.
IB 001 is OFF.
OW 08 is 0, IW
• When resetting the absolute encoder has been completed, commu-
nication will be disconnected between the Machine Controller and
SERVOPACK, and thus the Zero Point Setting Completed and
Zero Point Return Completed status will be cleared. After clearing
the alarms and re-establishing communications, execute a zero
point setting and a zero point return.
• If the ABS_RST command is executed while an A.81 alarm exists,
the alarm clear operation will have to be performed twice before
communication can be synchronized again.
• The ABS_RST command is valid for Σ-II and Σ-III Series
SERVOPACKs. A command error will occur if the ABS_RST
command is executed for a Σ Series SERVOPACK. A command
error will also occur if the ABS_RST command is executed when
an incremental encoder is being used (or when an absolute
encoder is used as an incremental encoder).
• The Command Pause (OB
• The Command Abort (OB
091) cannot be used.
Setting
08 is 0 and IB 090 is OFF.
090) cannot be used.
091) cannot be used.
08) to
8
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