Yaskawa MP930 - Manual (Page 250)

7.3 Using an Absolute Encoder
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Turning the System Back ON (Turning the Servo Back ON)
Set up position data again from the customer’s ladder logic program using high-speed scan tim-
ing as shown below. This is done when system power or servo power is turned back ON.
1. Store Pulse Position at Power OFF and Encoder Position at Power OFF at setting parame-
ters.
Store the Pulse Position at Power OFF and Encoder Position at Power OFF values saved
in M register at the following setting parameters.
Monitor parameter: Encoder Position at Power OFF (All four words at OLxx38/OLxx3A)
Monitor parameter: Pulse Position at Power OFF (All four words at OLxx3C/OLxx3E)
Store the contents of the buffer selected by the previously output Toggle Buffer Selection
Flag at this time.
2. ABS System Infinite Length Position Control Data LOAD Request
Turn the setting parameter: ABS System Infinite Length Position Control Data LOAD Re-
quest (OWxx2D bit 2) OFF, ON and OFF again. This will allow all position data to be
checked. The following monitor parameters will then be enabled when monitor parameter:
Zero Point Setting Completed (IWxx15 bit 3) is ON.
Monitor parameter: Encoder Position at Power OFF (All four words at ILxx38/ILxx3A)
Monitor parameter: Pulse Position at Power OFF (All four words at ILxx3C/ILxx3E)
The system will create position data using the following equation when ABS System Infi-
nite Length Position Control Data LOAD is requested.
Pulse position = pulse position at power OFF +
(encoder position − encoder position at power OFF)
*
* Indicates the distance traveled while power is OFF.
Execute the following flowchart when Position Data Re-Setup Request is ON.
Follow the procedure below to set up position data again.
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