YASKAWA JEPMC-MP2300-Y Series User Manual page 506

9 Absolute Position Detection
9.4.5 Infinite Length Position Control without Simple Absolute Positions
[ b ] Turning the System Back ON (Turning the Servo Back ON)
9-26
Set up position data again from the ladder program using high-speed scan timing as shown below.
This is done when MP2300 power or servo power is turned ON.
1.
Store Modularized Position at Power OFF and Absolute Position at Power OFF to set-
ting parameters.
Store the Modularized Position at Power OFF and Absolute Position at Power OFF values
saved in M register to the following setting parameters.
• Setting parameter: Absolute Position at Power OFF (All four words at OL
OL 60)
• Setting parameter: Modularized Position at Power OFF (All four words at OL
OL 64)
Store the contents of the buffer selected by the Toggle Buffer Selection Flag.
2.
Infinite Length Axis Position Information LOAD
Reset the Infinite Length Axis Position Information LOAD bit (setting parameter OW
bit 7) to 0, 1 and 0 again. This will allow all position data to be settled. The following monitor-
ing parameters will then be enabled and the Zero Point Return (Setting) Completed bit (moni-
toring parameter IW
• 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 system will create position data using the following equation when Infinite Length Axis
Position Information LOAD is requested.
• Modularized position = modularized position at power OFF + (absolute position − absolute posi-
tion at power OFF)*
* The portion in parentheses ( ) represents the moving amount while power is OFF.
0C bit 5) will turn ON.
5E to
62 to
00,
5E to
62 to