Yaskawa MP940 Reference Manual - Manual (Page 303)

MotionSuite™ MP940 Machine Controller Reference Manual Starting the Absolute Encoder Function
7-9
• Machine Coordinate Zero-point Position Offset Setting (OLC006)
This is a parameter for determining the zero-point of the machine coordi-
nates. The meaning of this parameter differs according to the type of
encoder used and the linear/rotary axis selection.
For an ABS Linear Axis
Setting parameter OLxx06 Zero-point Position Offset Setting is always
enabled. It is possible to change the zero-point of the machine coordinate
system by simply changing the Zero-point Position Offset Setting. The
zero-point setting operation is unnecessary for ABS linear axes.
For an ABS Rotary Axis
Setting parameter OLxx06 Zero-point Position Offset Setting is enabled
only during the zero-point setting operation. The electronic gearing value
which positively converts the zero-point position offset setting is
assumed to be the current position of the machine coordinates. Set
parameter OLxx06 Zero-point Position Offset Setting to the desired posi-
tion.
Absolute Encoder Initialization
Perform the setup operation for the absolute encoder in the following
situations.
• At first startup of the machine
• When an encoder backup alarm is generated
• When servo amplifier power is OFF and the encoder cable is discon-
nected.
Setup can be executed using either the handheld digital operator, or the panel
operator on the servo amplifier. Setup is also possible using the PC monitor
software.
The setup operation for the absolute encoder is possible with the servo OFF.
Linear Axis INC Axis Parameter (OIxx06) ABS OFF is always enabled
— ABS Axis Parameter (OIxx06) ABS OFF is always enabled
Rotary Axis INC Axis Parameter (OIxx06) ABS OFF is always enabled
— ABS Axis Enabled only in zero-point return (used for defining the ABS
System Rotary Position Management Data)