Yaskawa MP930 - Manual (Page 239)

Absolute Position Detection
7.2.3 Initializing the Absolute Encoder
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7.2.3 Initializing the Absolute Encoder
Initialize the absolute encoder in the following situations.
D When the absolute position detection system is started up for the first time
D When the number of rotations from the absolute reference position of the absolute encoder
needs to be initialized to 0
D When a Servomotor has been left disconnected for more than four days with no battery con-
nected to the absolute encoder
D When an alarm occurs
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Initializing a 12-bit Absolute Encoder
Follow the procedure below to initialize a 12-bit absolute encoder.
1. Properly connect the Servopack, Servomotor, and MP930.
2. Reset Absolute Position Data in the encoder.
a) Disconnect the connector on the encoder end.
b) Use a short piece to short together connector pins 13 and 14 on the encoder end for 1
to 2 seconds.
c) Remove the short piece and insert the connector securely in its original position.
13 14
3. Rewire the cables using normal wiring and make sure the encoder battery is connected.
4. Turn ON the system.
Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs, otherwise
the system has been successfully initialized.
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Initializing a 15-bit Absolute Encoder
Follow the procedure below to initialize a 15 bit-type absolute encoder.
1. Turn OFF the Servopack and MP930.
2. Discharge the large-capacity capacitor in the encoder using one of the following methods.
D At the encoder end connector
a) Disconnect the connector on the Servopack end.
b) Use a short piece to short together connector pins 10 and 13 on the encoder end.
c) Leave the pins shorted for at least 2 minutes.
d) Remove the short piece and insert the connector securely in its original position.
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