Setting The Zero Point And Turning On Power As Simple Absolute Positions - YASKAWA JEPMC-MP2300-Y Series User Manual

9.4.3 Setting the Zero Point and Turning ON Power as Simple Absolute Positions

( 1 ) Calculating the Zero Point of the Machine Coordinate System
If using the simple absolute infinite length position control, the MP2300 calculates the axis position
(i.e., current position for the machine coordinate system) as follows when the power is turned ON.
Current position for the machine coordinate system (monitoring parameter IL
IL
parameter OL
To assign the current position of the machine coordinate system as the zero position, set the
OL
OL
* 1. Use the IL
* 2. The encoder position when the servo power is turned ON is calculated with the following equation:
Example: IL
Set the encoder position when servo power is turned ON to a negative value as shown below.
OL
Set OL
point.
( 2 ) Setting the Zero Point for Simple Absolute Infinite Axis Position Control
The procedure to set the zero point for a simple absolute infinite axis position control is shown
below.
*1
16 ) = Encoder position when servo power is turned ON
48)
48 (encoder position when servo power turns ON) to a negative value. In other words, set
48 to the difference between OL
10 to make the machine coordinate reference position a positive value, and
IL 16 to make a negative value.
Multiturn data × Number of encoder pulses + initial increment pulses. Refer to your
SERVOPACK manual for information on the initial increment pulses.
10 = 10,000 and OL
48 － IL
48 to -9900 to assign the current position in the machine coordinate system as the zero
JOG to move close to the zero point.
JSTEP to move to the zero point.
Set OL 48
Use the ZSET command to set the zero point.
Has the setting for the required axis been completed?
9.4 Absolute Position Detection for Infinite Length Axes
48 and IL 10 (or IL
48 = 100
10 = 100 － 10000
= － 9900
Start
Servo ON
OL 48 - IL 10.
YES
End
10
*2
+ Zero Point Offset (setting
16).
Repeat for every axis.
NO
*1
or
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