YASKAWA MP2100 Series User Manual page 329

(c) Application Example of Simple Absolute Infinite Length Position Control Function
An example of using the simple absolute infinite length position control function is given below.
EXAMPLE
No.
4 Command Unit
6 Command Unit per Revolution
8 Gear Ratio [MOTOR]
9 Gear Ratio [LOAD]
10 Maximum Value of Rotary
Counter
36 Encoder Resolution
38 Max. Revolution of Absolute
Encoder
(d) Setting the Zero Point for a Simple Absolute Infinite Length Axis
Set the zero point as described here after initializing the absolute encoder to set the zero point of the machine
coordinate system and establish the machine coordinate system.
The procedure to set the zero point for a simple absolute infinite length axis is shown below.
* 1. The OL
* 2. See the information on the next page for more details on saving the OL
* 3. Execute with the ZSET command.
Name Setting
2: deg
360000
360000
16384
59705
Start
Servo ON
JOG to move close to
the zero point.
STEP to move to the
zero point.
OL 48 = OL 48 - IL
* 2
Save OL 48
* 3
Set the zero point.
Has the setting for the required
axis been completed?
YES
End
48 value must be saved when it is set.
■ Calculation of the Number to Turns to Reset
360000 * 6 / 360000 * 5 = 6/5 (number of turns to reset)
6 ■ Conditions
(59705+1) / (6/5) = 49755
5
The result is an integer, i.e., the remainder is 0, so the
simple absolute infinite length position control function
can be used.
Repeat for every axis.
* 1
10
NO
10.3 Using an Absolute Encoder
48 value.
10
10-17