YASKAWA MP2100 Series User Manual page 326

10 Absolute Position Detection
10.3.1 Finite Length Axis
(4) Turning ON the Power for a Finite Length Axis
The Zero Point Return (Setting) Completed bit
MP2100/MP2100M is turned OFF and ON, the communication are interrupted by the power OFF to the
SERVOPACK, or communication are interrupted in any other reason after the zero point has been set. The Zero
Point Return (Setting) Completed bit must therefore be turned back ON when the power supply is restored.
Use the following procedure.
1. Turn ON the power supply to the MP2100/MP2100M (or clear alarms to restart communication).
2. Confirm that communication have been synchronized by checking to see if the Motion Controller RUN
Ready bit (SVCRDY) (IB
3. Set the Zero Point Offset (OL
will establish a machine coordinate system for the MP2100/MP2100M.
4. Execute the Zero Point Setting (ZSET) motion command by setting OW
turn ON the Zero Point Return (Setting) Completed bit (IB
tem to be reset by executing the ZSET command.
■ The following methods are used to save the Zero Point Offset (OL
INFO
• Saving in a M Register with Ladder Program
Subtract the Calculated Position in Machine Coordinate System from the Machine Coordinate System Zero Point
Offset and save the result in an M register when it is stored in setting parameter OL
Store the contents saved in the M register in Zero Point Offset (setting parameter OL
power is turned back ON.
Ladder Program Example Required for a Finite Length Axis (Axis 1)
• Saving the Zero Point Offset (OL
After the Zero Point Offset (OL
MP2100M. When power is turned back ON, the value that was saved for Zero Point Offset (OL
automatically.
10-14
000) is ON.
48) to the same value as it was the last time the zero point was set. This
Zero Point Setting signal startup detection
IB000106 DB000000
IFON
Store the Machine Coordinate System Zero Point Offset
(Calculated Position in Machine Coordinate System) in OL
OL8048 IL8010
IEND
Store the offset saved in the M register in OL
ML00400
DEND
48) from the MPE720 Parameter Window
48) is set after setting the zero point, use
IB 0C5) will turn OFF when the power supply to the
(
0C5). It will not cause the coordinate sys-
48).
Save in an M register.
08 to 9. This is done only to
48.
48) when system or servo
48.
OL8048
ML00400
48.
OL8048
Save
to save the settings to the MP2100/
48) will be stored