YASKAWA JEPMC-MP2300-Y Series User Manual page 502

9 Absolute Position Detection
9.4.5 Infinite Length Position Control without Simple Absolute Positions
( 4 ) Ladder Program for Infinite Length Axis Position Control
[ a ] Normal Operation
MW
MW
ML
ML
ML
ML
ML
ML
ML
ML
9-22
If the Simple Absolute Infinite Length Position Control Function is not used, a special ladder
program is needed for normal operation and for operation when system power is turned ON.
1.
Check the status of the Zero Point Return (Setting) Completed bit.
Check to see if the Zero Point Return (Setting) Completed bit (monitoring parameter
IW 0C, bit 5) is ON. If it is, go to step 2.
If it is not, it means that the pulse position at power OFF, encoder position at power OFF and
all position data was not settled. In that case, restart the system and set up the position data
again or execute the ZSET (zero point setting) motion command to settle the position data all
over from the start.
2.
Save the modularized position at power OFF and absolute position at power OFF.
Use the ladder program to save the following monitoring parameters with high-speed scan
timing at an M register backed up by battery.
• Monitoring Parameter: Absolute Position at Power OFF (All four words at IL
IL 60)
• Monitoring Parameter: Modularized Position at Power OFF (All four words at IL
IL 64)
The M register that is used to save the above monitoring parameters is structured as shown
below.
Bit 0 Toggle Buffer Enabled Flag (OFF: Disabled, ON: Enabled)
Bit 1 Toggle Buffer Selection Flag (OFF: Buffer 0, ON: Buffer 1)
Bit 2 Position Data Re-setup Request Flag (OFF: Complete, ON: Request)
+1 Not used
+2
Monitoring Parameter:
+4
Absolute Position at Power OFF
Buffer 0
+6 Monitoring Parameter:
+8 Modularized Position at Power OFF
+10
Monitoring Parameter:
+12 Absolute Position at Power OFF
Buffer 1
+14
Monitoring Parameter:
+16
Modularized Position at Power OFF
Two buffers are needed to save the absolute position and the modularized position at power OFF
because the program may be exited without settling position data at all four words if power is
turned OFF during the high-speed scan.
5E to
62 to
Lower-place two words (IL
Upper-place two words (IL
Lower-place two words (IL
Upper-place two words (IL
Lower-place two words (IL
Upper-place two words (IL
Lower-place two words (IL
Upper-place two words (IL
5E)
60)
62)
64)
5E)
60)
62)
64)