Initializing The Absolute Encoder; Absolute Position Detection For Finite Length Axes; Parameter Settings For Finite Length Axes - YASKAWA JEPMC-MP2300-Y Series User Manual

9 Absolute Position Detection

9.2.2 Initializing the Absolute Encoder

9.2.2 Initializing the Absolute Encoder

9.3 Absolute Position Detection for Finite Length Axes

9.3.1 Parameter Settings for Finite Length Axes

CAUTION
( 1 ) MP2300 Fixed Parameters for Absolute Position Detection
Parameter No.
Fixed Parameter 1, bit 0 Axis Type
Fixed Parameter 30
Fixed Parameter 36
Fixed Parameter 38
9-6
Absolute encoders can be initialized as follows:
• SERVOPACK Procedure
Refer to the manual for the SERVOPACK for details.
• Panel Operator or Digital Operator Procedure
Refer to the manual for the SERVOPACK for details.
• ABS_RST Command Procedure
Refer to 7.2.21 Reset Absolute Encoder (ABS_RST) on page 7-77 for details.
For details on the procedure for initializing SERVOPACKS, refer to Appendix C Initializing the
Absolute Encoder on page C-2.
Initialize the absolute encoder in the following situations.
・When the absolute position detection system is started up for the first time
・When number of rotations from the absolute reference position needs to be initialized to 0
・When a Servomotor has been left alone with no battery connected to the absolute encoder
・When an alarm which is related the absolute position detection system occurs
This section describes the procedure for setting parameters and precautions on setting zero-point and
turning ON the power supply when using the axis as a finite length axis.
The following parameters must be set to enable the absolute position detection function when using
an axis as a finite length axis.
The parameters for which
9.3.1 ( 3 ) Detailed Descriptions on page 9-8. Set these parameters carefully. If
they are not set correctly, the current position may not be correct after the power
is turned ON. Machine damage may occur.
Name
Encoder Type
Encoder Resolution
in Pulses/Revolution
Max. Revolution of
Absolute Encoder
precautions are provided must be set referring to
Setting/Range
0: Finite length axis, 1: Infinite length axis
• Incremental encoder
• Absolute encoder
• Absolute encoder
(used as incremental encoder)
31
1 to 2 −1
Set the value after multiplication. (For a
16
16-bit encoder, set 2 = 65536.)
31
−1
0 to 2
Units Reference
−
9.3.1 ( 3 ) [ a ]
−
9.3.1 ( 3 ) [ b ]
pulse 9.3.1 ( 3 ) [ c ]
1 = 1 rotation 9.3.1 ( 3 ) [ d ]