YASKAWA MP2100 Series User Manual page 336

10 Absolute Position Detection
10.3.2 Infinite Length Axis
(a) Turning the System Back ON (Turning the Servo Back ON)
Set up position data again from the ladder program using high-speed scan timing as shown below. This is
done when system power or servo power is turned back ON.
1. Store Modularized Position at Power OFF and Absolute Position at Power OFF to setting parameters.
Store the Modularized Position at Power OFF and Absolute Position at Power OFF values saved in M reg-
ister to the following setting parameters.
• Setting parameter: Absolute Position at Power OFF (All four words at OL
• Setting parameter: Modularized Position at Power OFF (All four words at OL
Store the contents of the buffer selected by the Toggle Buffer Selection Flag.
2. Load Request for Absolute System Infinite Length Position Control Information
Set the Infinite Length Axis Position Information LOAD bit (setting parameter OW
and 0 again. This will allow all position data to be settled. The following monitoring parameters will then
be enabled and the Zero Point Return (Setting) Completed bit (monitoring parameter IW
turn ON.
• Monitoring parameter: Absolute Position at Power OFF (All four words at IL
• Monitoring parameter: Modularized Position at Power OFF (All four words at IL
The system will create position data using the following equation when Infinite Length Axis Position
Information LOAD is requested.
• Modularized position = Modularized position at power OFF + (Absolute position − Absolute position
* The portion in parentheses ( ) represents the moving amount while power is OFF.
10-24
∗
at power OFF)
5E to OL 60)
62 to OL 64)
00, bit 7) to 0, 1
0C bit 5) will
5E to IL 60)
62 to IL 64)