Yaskawa MP2200 Machine Controller - Manual (Page 406)

7 Absolute Position Detection
7.3.2 Infinite Length Axis
7-22
( 3 ) Turning ON the Power for a Simple Absolute Infinite Axis
The Zero Point Return (Setting) Completed bit (IB††0C5) will turn OFF when the power supply to
the MP2300 is turned OFF and ON, the communication are interrupted by the power OFF to the
SERVOPACK, or communication are interrupted in any other reason after the zero point has been
set. The Zero Point Return (Setting) Completed bit must therefore be turned back ON when the
power supply is restored.
Use the following procedure.
1. Turn ON the power supply to the MP2300 (or clear alarms to restart communication).
2. Confirm that communication have been synchronized by checking to see if the Motion
Controller RUN Ready bit (SVCRDY) (IB††000) is ON.
3. Set the Zero Point Offset (OL††48) to the same value as it was the last time the zero
point was set. This will establish a machine coordinate system for the MP2300.
4. Execute the Zero Point Setting (ZSET) motion command by setting OW††08 to 9. This
is done only to turn ON the Zero Point Return (Setting) Completed bit (IB††0C5). It will
not cause the coordinate system to be reset by executing the ZSET command.
( 4 ) Managing Positions when the Simple Absolute Infinite Length Position Control Function
Is Not Used
When power is turned ON to the system, the position managed by the MP2200/MP2300 is calculated
from the relative absolute position in pulse units using the following equation.
The modularized position
1 and absolute position 2 are always stored as paired information in backup
memory. This information is used the next time power is turned ON as the modularized position and
the absolute position at shutdown to find the relative encoder position in pulses.
• Modularized position = Modularized position at power OFF
+ (Absolute position − Absolute position at power OFF) *
* The portion in parentheses ( ) represents the moving amount while the power is OFF.
1 Modularized position
The position information from the MP2200/MP2300 converted to pulses
2 Absolute position
Absolute encoder position information (Multiturn data x Number of encoder pulses + Initial increment
pulses)
TERMS