YASKAWA JEPMC-MP2300-Y Series User Manual page 490

9 Absolute Position Detection
9.3.2 Setting the Zero Point for a Finite Length Axis
( 1 ) Calculating the Zero Point of the Machine Coordinate System
( 2 ) Setting the Zero Point of the Machine Coordinate System
CAUTION
9-10
The MP2300 calculates the axis position (i.e., current position for the machine coordinate system) as
follows when power is turned ON if an absolute encoder is used for positioning.
Current position for the machine coordinate system (monitoring parameter IL
*1
IL 16 ) = Encoder position when servo power is turned ON
parameter OL 48)
To make the current position of the machine coordinate system the zero position, set OL
(encoder position when servo power turns ON) to a negative value. In other words, set OL
the difference between OL
* 1. Use IL 10 to select a positive value for the reference position for the machine coordinates, and
use IL 16 to make the current position of the machine coordinates into a positive position.
* 2. The encoder position when servo power is turned ON is as follows: Multiturn data × Number of
encoder pulses + initial increment pulses. Refer to your SERVOPACK manual for information on
the initial increment pulses.
Example: IL 10 = 10,000 and OL
Set the encoder position when servo power is turned ON to a negative value as shown below.
48 － IL
OL
Set OL 48 to -9900 to make the current position in the machine coordinate system the zero point.
OL 48 is always valid for a finite length axis. Do not change the Zero Point
Offset (OL
Otherwise the machine may be damaged or an accident may occur.
Set the zero point after initializing the absolute encoder to set the zero point of the machine coordi-
nate system and to create the machine coordinate system. The following illustration shows the proce-
dure for setting the zero point for a finite length axis.
JOG to move close to the zero point.
JSTEP to move to the zero point.
Set OL
Use the ZSET command to set the zero point.
Has the setting for the required axis been completed?
48 and IL 10 (or IL 16).
48 = 100
10 = 100 － 10000
= － 9900
48) during the operation of a machine with a finite length axis.
Start
Servo ON
48 OL 48 - IL 10.
YES
End
10
*2
+ Zero Point Offset (setting
Repeat for every axis.
NO
*1
or
48
48 to