Origin Settings - YASKAWA E-V-SD Series User Manual

4.5.7 Origin Settings

This section describes the procedure for setting the origin (i.e., the absolute origin or the origin of the machine
coordinate system) of an absolute encoder and the procedures for storing the machine coordinate system ori-
gin offset.
(1) Calculating the Origin of the Machine Coordinate System
If an absolute encoder is used, the host controller calculates the axis position (i.e., the current position in the
machine coordinate system) as follows when the power supply is turned ON:
Current machine coordinate system position
offset
∗1. The current position in the machine coordinate system designates the current position of the machine. The feedback
position from the Servomotor is considered to be a positive value.
∗2. The current encoder coordinate system position is determined by the following formula: Multiturn data × Number of
pulses per encoder rotation + Initial incremental pulses + Incremental pulses.
Example
To set the current machine coordinate system position as the origin (0), set the value of -(current encoder coor-
dinate position from the origin). If the current machine coordinate system position is 10,000 and the origin off-
set is 100, the value of -(current encoder coordinate position) would be as follows:
Origin offset (100) - Current machine coordinate system position (10,000) = -9,900
You can set this value of -9,900 as the origin offset to set the current position in the machine coordinate system
as the machine coordinate origin (0).
For details on how to set the origin offset, refer to 4.5.6 Origin Offset.
(2) Setting the Origin
START
Servo ON
Move to the mechanical origin by jogging,
handle pulse generator, etc.
Read the current position in the
machine coordinate system (APOS)
from the SERVOPACK.
Calculate the new origin offset as
follows: Origin offset before change
- Current machine coordinate
system position (APOS)
Have the settings
been completed for all
required axes?
YES
END
*1
= Current encoder coordinate system position
Repeat for
each axis.
NO
4.5 Absolute Position Detection
*2
+ Origin
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