Yaskawa MP930 - Manual (Page 242)

7.3 Using an Absolute Encoder
7 -11
J Position Control with a Finite Length Mode Axis
Initialize the axis position as described next when power is turned ON if an absolute encoder
is used as a Finite Length Mode Axis.
Current position for the machine coordinate system =
Encoder position when servo power is turned ON + Setting parameter OLxx06: Zero Point Offset
*
* Multi-turn data × the number of encoder pulses + initial increment
Setting parameter OLxx06: Zero Point Offset is always enabled in Finite Length Mode. This
means that the current position of the machine coordinate system (zero point setting) can be
changed at any time.
The meaning of setting parameter OLxx06 will depend on whether Finite Length Mode or Infi-
nite Length Mode is set.
Finite Length Mode
Set −(ILxx02) + OLxx06 at OLxx06 in order to make the current position of the machine coor-
dinate system the zero position.
ILxx02 = 10,000 and OLxx06 = 100
Setting the current position of the machine coordinate system to 0 when the zero point is set.
−(10,000) + 100 = −9,900
Set OLxx06 to −9,900
ILxx02: Monitor the calculated position of the machine coordinate system
Infinite Length Mode
Set the desired position at OLxx06 and that setting will be used for the current position of the
machine coordinate system when the zero point is set.
Setting the current position of the machine coordinate system to 0 when the zero point is set
Set OLxx06 to 0.
Caution
D Do not change the Zero Point Position Offset (OLxx06) while operating in Finite Length
Mode.
Otherwise this may cause machine damage or an accident.
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A EXAMPLE "
A
EXAMPLE
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