Infinite Length Axis - YASKAWA MP2100 Series User Manual

10.3.2 Infinite Length Axis

(1) Overview
Infinite length positioning is a function that automatically resets the machine position, program position (abso-
lute values in the program coordinate system), and current position at regular intervals according to the Maxi-
mum Value of Rotary Counter (POSMAX) (fixed parameter 10). The function can be used for repeated
positioning in one direction.
Unfortunately, the maximum multiturn data is as follows, at which point the multiturn data is reset to 0.
• Σ Series: ± 99999
• Σ
II/III Series infinite length axis: 0 to 65534
-
When system power is turned ON therefore, the MP2100/MP2100M position may not be the same before and
after power is turned ON. This problem can be resolved using one of the following two methods.
(a) Simple Absolute Infinite Length Position Control
With this method, ladder program to manage the absolute infinite length axis position is not required. The
coordinate system is established simply by setting the Zero Point Offset
point after turning ON the power supply or restarting communication.
(b) Absolute Infinite Length Position Control
With this method, ladder program to manage the absolute infinite length axis position is required.
The coordinate system is established by turning ON the Infinite Length Axis Position Information LOAD bit
(OB 007).
(2) Managing Positioning with the Simple Absolute Infinite Length Position Control Func-
tion
The simple absolute infinite length position control is used to manage the position of an infinite length axes
based on the assumption that the number of possible turns from the encoder is an integral multiple of the number
of encoder turns corresponding to the reset frequency in reference units. With this method, ladder program to
manage the infinite length position is not required.
This function can be used when the following conditions are met.
• The Σ-II or Σ-III Series is used.
• The following equation is satisfied:
(Maximum number of absolute encoder turns +1) / Reset number of turns = An integer (remainder = 0)
(a) Setting the Zero Point
Set the desired position in OL
tion will be set as the current position of the machine coordinate system.
To set the present position of the machine coordinate system to 0 when the Zero Point Setting (ZSET)
EXAMPLE
motion command is executed, set OL
48 and execute the Zero Point Setting (ZSET) motion command. The posi-
48 to 0.
10.3 Using an Absolute Encoder
POSMAX
0
when setting the zero
(OL 48)
10
10-15