Yaskawa MP940 Reference Manual - Manual (Page 315)

MotionSuite™ MP940 Machine Controller Reference Manual Absolute Encoder Usage Method
7-21
• Motion during power OFF is significant (phase position of encoder posi-
tion)
• The meaning of the terms used is as follows:
- Encoder Position: Absolute Encoder Position Data
(Multi-turn Data × number of Encoder Pulses + Initial Incremental
Pulses)
- Pulse Position: Position at which position data managed by the
MP940 is converted to pulses.
Procedure for Setting a Zero-point for a Rotary Axis
Execute the ZSET (zero-point setting) for the motion command.
The system assures the pulse position at power OFF, encoder position at
power OFF, and all position data by the zero-point setting operation.
The operating procedure for zero-point setting in a rotary axis is shown
below:
Start
Servo ON
Move next to zero point
in JOG operation
Move to zero point in
STEP operation
Set desired position in
OLxx06 *1
Execute Zero Point
Setting *2
End