Setting The Moving Method Of The Rotational Coordinate System - YASKAWA Sigma-7-Series Product Manual

• If the offset is greater than the setting of Pn87A (Last Rotational Coordinate): Pn808 = Offset
− (Pn87A − Pn87C + 1)
• If the offset is between Pn87C and Pn87A, inclusive: Pn808 = Offset
If the settings of the parameters are not in the correct relationship (i.e., Pn87C ≤ Pn808 ≤
Pn87A), an A.04A alarm (Parameter Setting Error 2) will occur.
Refer to the following section for details on the A.04A alarm.
5.2 List of Alarms on page 5-3
If the encoder position (X) is at the origin of the machine coordinate system (0), then set Pn808
to -X.
Machine coordinate
Encoder coordinate
Ab olute encoder origin
Pn808
23 (PnA46)
*
Send the Turn Sensor ON command (SENS_ON) from the host controller to enable changes to the settings.
4.2.4 Setting the Moving Method of the Rotational Coordinate
System
Set Pn87E = n.X (Movement Method for Rotational Coordinates) to specify movement in
the rotational coordinate system.
Change the setting of this parameter when there is no reference (i.e., when DEN = 1). If you
change it during operation, the new setting is enabled from the next reference operation.
Important
Parameter
Pn87E
Note: This parameter is enabled when Pn87A or Pn87C is not set to 0.

4.2.4 Setting the Moving Method of the Rotational Coordinate System

Pn808
Absolute Encoder Origin Offset
Setting Range Setting Unit
-1,073,741,823 to
1 reference unit
1,073,741,823
Absolute Encoder Origin Offset
Setting Range Setting Unit
-1,073,741,823 to
1 reference unit
1,073,741,823
Meaning

n. 0 Absolute positioning
Positioning in reverse direc-

n. 1
tion
Positioning in forward direc-

n. 2
tion

n. 3 Positioning by near course
Origin of machine
coordinate y tem
Encoder po ition (X)
Default Setting When Enabled
0 Immediately*
Default Setting When Enabled
0 Immediately*
When Enabled
Immediately
4.2 Setup Procedure
Classification
Setup
Classification
Setup
Classification
Setup
4
4-5