Yaskawa MP2200 Machine Controller - Manual (Page 412)

7 Absolute Position Detection
7.3.2 Infinite Length Axis
7-28
[ b ] Turning the System Back ON (Turning the Servo Back ON)
Set up position data again from the ladder program using high-speed scan timing as shown below.
This is done when system power or servo power is turned back ON.
1. Store Modularized Position at Power OFF and Absolute Position at Power OFF to
setting parameters.
Store the Modularized Position at Power OFF and Absolute Position at Power OFF values
saved in M register to the following setting parameters.
• Setting parameter: Absolute Position at Power OFF (All four words at OL††5E to
OL††60)
• Setting parameter: Modularized Position at Power OFF (All four words at OL††62 to
OL††64)
Store the contents of the buffer selected by the Toggle Buffer Selection Flag.
2. Load Request for Absolute System Infinite Length Position Control Information
Reset the Infinite Length Axis Position Information LOAD bit (setting parameter OW††00,
bit 7) to 0, 1 and 0 again. This will allow all position data to be settled. The following
monitoring parameters will then be enabled and the Zero Point Return (Setting) Completed bit
(monitoring parameter IW††0C bit 5) will turn ON.
• Monitoring Parameter: Absolute Position at Power OFF (All four words at IL††5E to
IL††60)
• Monitoring Parameter: Modularized Position at Power OFF (All four words at IL††62 to
IL††64)
The system will create position data using the following equation when Infinite Length Axis
Position Information LOAD is requested.
• Modularized position = modularized position at power OFF + (absolute position − absolute
position at power OFF)
∗
*The portion in parentheses ( ) represents the moving amount while power is OFF.