Yaskawa MP930 - Manual (Page 252)

7.3 Using an Absolute Encoder
7 -21
The following programming example (ladder logic program) is for the flowchart shown above.
The axis used here is axis No. 1 of module No. 1. Change the motion parameter register number
if the module and axis numbers are different.
H11
SB000001
IB0000E
IFON
IBC0007
$ONCOIL
SB000004 MB300002
MB300005
ABS System Infinite Length Mode Axis: Axis No. 1
First address in the toggle buffer: MW30000
$FSCAN-H (ON for just one scan after high-speed scanning starts)
Servo Power Supply Turned Back ON Signal ON?
First scan or Servo Power Supply Turned Back ON Signal ON
Toggle Buffer Enabled Flag ON
MB300000
IFON
ELSE
$ONCOIL
SB000004
IEND
IEND
Position Data Re-setup Request Flag ON
MB300002
Position Data Re-setup Request Flag OFF
SVRDY (Operation preparation completed?)
IFON
Position Data Re-setup Request Flag
MB300002
IFON
ABS System Infinite Length Position Control Data Initialization Completed Flag
IBC0173
IFON
Toggle Buffer Selection Flag
MB300001
IFON
MB300005
7