Yaskawa JAPMC-MC2300 - Manual (Page 281)

10.3 Absolute Position Detection for Finite Length Axes
10.3.3 Setting the Zero Point for a Finite Length Axis
10-10
10.3.3 Setting the Zero Point for a Finite Length Axis
This section describes the procedure for setting the zero point (i.e., the absolute zero point or the zero point of the
machine coordinate system) for a finite length axis. It also describes the procedures for storing the zero point offset.
( 1 ) Calculating the Zero Point of the Machine Coordinate System
The Machine Controller calculates the axis position (i.e., current position for the machine coordinate system) as fol-
lows when power is turned ON if an absolute encoder is used for positioning.
Calculated Position in Machine Coordinate System (monitoring parameter IL
10 *1 or IL 16 *1 ) =
Encoder position when servo power is turned ON *2 + Zero Point Position in Machine Coordinate System
Offset (setting parameter OL 48)
To make the current position of the machine coordinate system the zero position, set OL 48 (encoder position when
servo power turns ON) to a negative value. In other words, set OL 48 to the difference between OL 48 and
IL 10 (or IL 16).
* 1. Use the IL 10 to make the machine coordinate reference position as a standard, and IL 16 to make the
machine coordinate current position as a standard.
* 2. The encoder position when servo power is turned ON is as follows: Multiturn data × Number of encoder pulses +
initial increment pulses. Refer to your SERVOPACK manual for information on the initial increment pulses.
Example: IL 10 = 10,000 and OL 48 = 100
Set the encoder position when servo power is turned ON to a negative value as shown below.
OL 48 － IL 10 = 100 － 10000
= － 9900
Set OL 48 to -9900 to make the current position in the machine coordinate system the zero point.
( 2 ) Setting the Zero Point of the Machine Coordinate System
Set the zero point after initializing the absolute encoder to set the zero point of the machine coordinate system and to
create the machine coordinate system. The following illustration shows the procedure for setting the zero point for a
finite length axis.
OL 48 is always valid for a finite length axis. Do not change the Zero Point
Position in Machine Coordinate System Offset (OL 48) during the operation
of a machine with a finite length axis. Otherwise the machine may be damaged or
an accident may occur.
CAUTION
Repeat for every axis.
Start
End
YES
NO
Servo ON
JOG to move close to the zero point.
STEP to move to the zero point.
Set OL 48 to OL 48 - IL 10.
Use the ZSET command to set the zero point.
Has the setting for the required axis been completed?