Yaskawa MP940 Reference Manual - Manual (Page 227)

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details
6-27
(Exp. 2) DWG.A
OLC006 -| DL00022 > OLC006
Set the above, then open the register list screen, and set 120 in DL00022
using the MP940 programming panel. Once set, this program is
automatically executed, and -120 set into OLC006 at MP940 power ON
because DL00022 (D register of DWG.A) has battery backup.
Although DL00022 was used in this example, another D register (DLC0C0x)
or M register (MLC0C0x) can also be used. The -120 value must be changed
each time the absolute encoder is initialized because the initial incremental
pulse within a single rotation changes.
In the case of Example 1, the user program must be modified using the
programming panel. In Example 2, there is no need to mmodify the user
program, and only the register data is modified using the programming panel.
Example 2 is more convenient in the case of repeating machines.
Set as command units when the motion command usage selection (fixed
parameter) is “Used” and the motion command enablement is 1 (= enabled).
Set as a pulse in all other cases. See the section on “Absolute Encoder
Initialization” for the absolute encoder initialization procedure.