Initializing The Absolute Encoder - YASKAWA MP2100 Series User Manual

10.2.3 Initializing the Absolute Encoder

Initialize the absolute encoder in the following situations.
• When the absolute position detection system is started up for the first time
• When the multiturn data needs to be initialized to 0
• When a Servomotor has been left alone with no battery connected to the absolute encoder
• When an alarm which is related the absolute position detection system occurs
(1) Σ Series
(a) Initializing a 12-bit Absolute Encoder
Use the following procedure to initialize a 12-bit absolute encoder.
1. Properly connect the SERVOPACK, Servomotor, and MP2100/MP2100M.
2. Reset Absolute Position Data in the encoder.
a) Disconnect the connector on the encoder end.
b) Short-circuit pins 13 and 14 on the encoder end connector for 2 seconds or more.
c) Remove the short piece and insert the connector securely in its original position.
3. Connect the cables using normal wiring and make sure the encoder battery is connected.
4. Turn ON the system.
Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs, otherwise the system has
been successfully initialized.
(b) Initializing a 15-bit Absolute Encoder
Use the following procedure to initialize a 15 bit-type absolute encoder.
1. Turn OFF the SERVOPACK and the host computer which MP2100/MP2100M is installed.
2. Discharge the large-capacity capacitor in the encoder using one of the following methods.
a) At the SERVOPACK end connector
i) Disconnect the connector on the SERVOPACK end.
ii) Use a short piece to short-circuit together connector pins 10 and 13 on the encoder end.
iii) Leave the pins short-circuited for at least 2 minutes.
iv) Remove the short piece and insert the connector securely in its original position.
b) At the encoder end connector
i) Disconnect the connector on the encoder end.
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10.2 Startup the Absolute Position Detection Function
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