Reset Absolute Encoder (Abs_Rst) - YASKAWA JEPMC-MP2300-Y Series User Manual

7.2.21 Reset Absolute Encoder (ABS_RST)

The ABS_RST command resets the multiturn data in the absolute encoder to 0. If an Encoder Backup
Alarm (A.810) or Encoder Checksum Alarm (A.820) occurs when the ABS_RST command is exe-
cuted, the encoder will be reset.
The ABS_RST command can be executed to reset the multiturn data in the absolute encoder to 0
when these alarms occur or when the machine is being used for the first time.
( 1 ) Executing/Operating Procedure
No.
Communication with the SERVOPACK must be
1
synchronized.
2 The Servo OFF condition.
3
Motion command execution has been completed.
( 2 ) Holding and Aborting
The Command Pause bit (OB
Processing will be canceled if a communication error occurs while the command is being executed
and a command error end will occur.
The ABS_RST command is valid for Σ-II and Σ-III Series SERVOPACKs. A command error will
occur if the ABS_RST command is executed for a Σ Series SERVOPACK. A command error will
also occur if the ABS_RST command is executed when an incremental encoder is being used
(even if it is being used as an absolute encoder).
1.
Check to see if all the following conditions are satisfied.
Execution Conditions
2.
Set OW 08 to 22 to execute the ABS_RST motion command.
The ABS_RST command will clear any alarms that have occurred and resets the multiturn data
in the absolute encoder to 0.
IW 08 will be 22 and IBxx090 will turn ON during command processing.
IB 090，IB 093，and IB
command processing has been completed.
3.
Set OW 08 to 0 to execute the NOP motion command to initialize the absolute
encoder.
When the absolute encoder has been reset, communication will be disconnected between the
Machine Controller and the SERVOPACK. The zero point setting completed and zero point return
completed status will thus be cleared. Use the Clear Alarm bit (0B
ABS_RST command, re-establish communication, and then execute the ZRET or ZSET com-
mand.
If the ABS_RST command is executed while an A.81 alarm occurs, the alarm clear operation will
have to be performed twice before communication can be synchronized again.
IB 000 is ON.
IB 001 is OFF.
IW 08 is 0, and IB
000 will turn OFF and IB
090) and the Command Abort bit (OB
7.2 Motion Command Details
Confirmation Method
090 is OFF.
097 will turn ON when the
00F) after executing the
091) cannot be used.
7-77