Yaskawa MP2200 Machine Controller - Manual (Page 390)

7 Absolute Position Detection
7.2.2 Setting Related Parameters
7-6
[ b ] Number of Encoder Pulses
• MP2200/MP2300 fixed parameter 36
Set MP2200/MP2300 fixed parameter 36 to the number of pulses used by the absolute encoder
as shown in the following table.
* Set 16384 for the Σ -II.
If the above settings are not used, correct motion control will not be performed. Set the parameters
carefully.
[ c ] Axis Selection
• MP2200/MP2300 fixed parameter 1, bit 0
This setting is used to set either an infinite or finite length axis for controlled axis movement.
Refer to 7.3 Using an Absolute Encoder for position management methods for finite and
infinite length axes.
[ d ] Infinite Length Axis Reset Position
• MP2200/MP2300 fixed parameter 10
The Infinite Length Axis Reset Position is used to set the reset position of infinite length axis per
rotation in reference units. This parameter is enabled when an axis type is set to a infinite length axis.
[ e ] Maximum Number of Absolute Encoder Turns/Multiturn Limit Setting
• MP2200/MP2300 fixed parameter 38
•
Σ -II and Σ -III Series SERVOPACK parameter Pn205
These parameters determine the maximum value of the number of encoder turns managed by the
SERVOPACK and MP2200/MP2300. The setting is determined by the SERVOPACK that is used
and the type of axis, as shown in the following table.
* A fixed parameter setting error will occur if fixed parameter 38 is set to 65535 for the Σ-ΙΙ
Series with an infinite length axis.
If the above settings are not used, the position may be offset. Set the parameters carefully.
Number of
Bits
MP2200/MP2300
Fixed Parameter 36
SERVOPACK Parameter
Σ Series
Cn-0011 Σ-II Series
Pn201
Σ-III Series
Pn212
12 4096 1024 1024 1024
13 8192 2048 2048 2048
14 16384 4096 4096 4096
15 32768 8192 8192 8192
16 65536 − 16384 16384
17 131092 * − 16384 32768
IMPORTANT
Fixed Parameter 38
SERVOPACK Parameter
Pn205
Finite length axis for Σ Series 99999 −
Infinite length axis for Σ Series 99999 −
Finite length axis for Σ-II or Σ-III Series 65535 65535
Infinite length axis for Σ-II or Σ-III Series Set to the same value as Pn205* 65534 max.*
IMPORTANT