YASKAWA MP2100 Series User Manual page 328

10 Absolute Position Detection
10.3.2 Infinite Length Axis
■ Calculating the Reset Value for the Number of Turns
• Reset Value When the Reference Unit is Pulses
Reset value = Infinite length axis reset position / Number of pulses per motor rotation
• Reset Value for All Other Reference Units
Reset value = (Infinite length axis reset position × Servomotor gear ratio) / (Moving amount per machine rotation ×
Machine gear ratio)
(b) Parameters Used for a Simple Absolute Infinite Length Axis
The fixed parameters listed in the following table must be set to use a simple absolute infinite axis.
No.
1 Function
Selection 1
30 Encoder
Type
The Simple ABS Infinite Axis bit will not be valid if both an infinite length axis and an absolute encoder are
not set.
The following parameters set the conditions for the number of turns for resetting the encoder.
No.
4
6
8
9
10
36
38
A fixed parameter error will occur and information will be provided in the following monitoring parameters
if a simple absolute infinite length axis is selected and the combination of the above fixed parameters do not
satisfy the equation given on the previous page, i.e., (Maximum number of absolute encoder turns +1) / Reset
number of turns = An integer (i.e., remainder = 0).
Register
IW
IL
10-16
Setting
Name
Range
Bit setting
Bit 0: Axis Type
Bit 9: Simple ABS Infinite Axis
0 to 3
0: Incremental encoder
1: Absolute encoder
2: Absolute encoder
(used as incremental encoder)
Name
Command Unit
Moving Unit Per Revolution
Gear Ratio [MOTOR]
Gear Ratio [LOAD]
Maximum Value of Rotary
Counter
Encoder Resolution
Max. Revolution of Absolute
Encoder
Name
01 Over Range Parameter Number
02 Warning
Meaning
0: Finite length axis
1: Infinite length axis
0: Disable, 1: Enable
Setting
Meaning
Range
0 to 3
0: pulse
1: mm
2: deg
3: inch
31
1 = 1 reference
−1
1 to 2
unit
1 to 65535
1 = 1 rotation
1 to 65535
1 = 1 rotation
31
1 = 1 reference
−1
1 to 2
unit
31
1 = 1 pulse/rev
1 to 2 −1
31
1 = 1 rotation
−1
0 to 2
Meaning
Stores the parameter number
with a setting error.
Bit 2: Fixed Parameter Error
Details Setting
1: Infinite length axis
1: Enable
1: Absolute encoder
Details
The electronic gear is not relevant
if the unit is pulses.
This setting must match the
encoder.
This setting must match the setting
in the SERVOPACK.
Pn205 must be 65534 or less.
Details
Fixed parameter:
1000 + fixed parameter number
0: OFF, 1: ON