Yaskawa MP940 Reference Manual - Manual (Page 301)

MotionSuite™ MP940 Machine Controller Reference Manual Starting the Absolute Encoder Function
7-7
Starting the Absolute Encoder Function
This section explains the startup procedure for the absolute encoder system.
System Startup Procedure
When starting up the absolute encoder system, peripheral devices such as the
servo amplifier and motor must be checked. The following procedure is
necessary when starting up the absolute encoder system.
When items 1 ~ 5 (above) have been completed properly, the run
preparations complete state results, and the absolute encoder system
functions normally. Execute the absolute encoder system startup procedure
under the following conditions:
(1) Device Verification
(2)
Verify Servo Amp-related
parameters
(3)
Set MP940 module-
related parameters
(4)
Absolute encoder
initialization
(5) Zero-point Setting
Verify that the servo amplifier, servo motor
and cables are all absolute encoder-
compatible
Verify that the servo amplifier parameters
(user parameters) are set for absolute
encoder use.
Set parameters related to the absolute
encoder function.
Set up absolute encoder initialization B
Execute " zero point setting" , and ser the
" absolute zero point" which is th e" Machine
Coordinate Zero Point" .
(1) When the absolute encoder system is first started
(2) When the servo motor is replaced
(3) When an absolute encoder-related alarm is generated