Yaskawa MP940 Reference Manual - Manual (Page 317)

MotionSuite™ MP940 Machine Controller Reference Manual Absolute Encoder Usage Method
7-23
Configure the M register into which the above monitor parameters are
saved as follows:
Note:Two buffers are needed because the buffer saving the encoder position at power OFF and pulse posi-
tion at power OFF may close without assuring the 4-word position data if there is a power cutoff dur-
ing high-speed scan.
MWxxxxx bit 0 Toggle Buffer Enable Flag (0 = enabled/1 = disabled)
bit 1 Toggle Buffer Selection Flag (0 = buffer 0/1 = buffer 1)
bit 2 Position Data Repeat Setup Request Flag (0 = complete/1 = Request)
MWxxxxx +1 Empty
MLxxxxx +2
MLxxxxx +4 Buffer 0 Monitor Parameter
“Encoder Position at Power OFF” Lower 2 words (ILxx38)
Upper 2 words (ILxx3A)
MLxxxxx +6
MLxxxxx +8 Monitor Parameter
“Pulse Position at Power OFF” Lower 2 words (ILxx3C)
Upper 2 words (ILxx3E)
MLxxxxx +10
MLxxxxx +12 Buffer 1 Monitor Parameter
“Encoder Position at Power OFF“ Lower 2 words (ILxx38)
Upper 2 words (ILxx3A)
MLxxxxx +14
MLxxxxx +16 Monitor Parameter
“Pulse Position at Power OFF” Lower 2 words (ILxx3C)
Upper 2 words (ILxx3E)