YASKAWA MP2000 Series User Manual page 296

10.4 Absolute Position Detection for Infinite Length Axes
10.4.6 Infinite Length Position Control without Simple Absolute Positions
Values of monitoring parameters saved in buffer 0.
Values of monitoring parameters saved in buffer 1.
Toggle Buffer Selection Flag inverted.
[ b ] Turning the System Back ON (Turning the Servo Back ON)
Set up position data again from the ladder program using high-speed scan timing as shown below. This is done when
Machine Controller power or servo power is turned ON.
1.
Store the pulse position at power OFF and encoder position at power OFF to setting parameters.
Store the pulse position at power OFF and encoder position at power OFF values saved in M register to the fol-
lowing setting parameters.
• Setting parameter: Encoder Position when the Power is OFF (All four words, form OL5E to OL60.)
• Setting parameter: Pulse Position when the Power is OFF (All four words, from OL62 to OL64.)
Store the contents of the buffer selected by the Toggle Buffer Selection Flag.
2.
Request ABS Rotary Pos. Load bit
Reset the Request ABS Rotary Pos Load bit (setting parameter OW00, bit 7) to 0, 1 and 0 again. This will
allow all position data to be settled. The following monitoring parameters will then be enabled and the Zero Point
Return (Setting) Completed bit (monitoring parameter IW0C, bit 5) will turn ON.
• Monitoring Parameter: Encoder Position when the Power is OFF (All four words, from IL5E to
• Monitoring Parameter: Pulse Position when the Power is OFF (All four words, from IL62 to IL64.)
The system will create position data using the following equation when Request ABS Rotary Pos. Load bit is set
to 1.
• Pulse position = pulse position at power OFF + (encoder position − encoder position at power OFF)*
* The portion in parentheses ( ) represents the moving amount while power is OFF.
10-26
IL60.)