Yaskawa MP940 Reference Manual - Manual (Page 299)

MotionSuite™ MP940 Machine Controller Reference Manual Outline of Absolute Encoder Functions
7-5
Status Shift of the Absolute Encoder System
The status shift of the absolute encoder system is shown in the figure below:
Each of the states is as follows:
1. Initialization Incomplete State
Absolute encoder operation cannot be assured in this state.
Initialization of the absolute encode must be executed because an error
results if the absolute encoder backup battery is completely drained or
if the absolute encoder is being used for the first time.
Zero-point setting is not possible in this state.
2. Zero-Point Unset State
In this state, the zero-point setting, which determines the zero-point of
the machine coordinate system, is not set. Because an alarm results
upon powering on the device, execute zero-point setting after alarm
reset. Axial motion in a zero-point unset state is of a manual jog or step
run only.
Figure Status Shift Diagram of Absolute Encoder System
4. Standby State
(power OFF)
1. Initialization
Complete
(MC operation)
2. No Zero-Point Set
(manual run possible)
Alarm
State
Power ON
Battery OFF
Encoder
Alarm
Battery
Disconnection
Zero Point
Setting
Absolute Encoder
Initialization
Absolute Encoder
Battery Alarm
Alarm
Reset
3. Run Prep Completion
State (automatic run
possible)