Yaskawa MP940 - Manual (Page 276)

Parameters
6.3.2 Motion Setting Parameter Details
6-36
Procedure
The position can be adjusted with the Zero Point Offset. If the zero point offset is
set to -120, the position monitor will show “0.”
The value set at the Zero Point Offset will be reset to “0” if the MP940 is turned
OFF, so we recommend setting the parameter with Drawing A (initial processing
drawing).
Example 1: Set DWG.A as follows:
OLC006 - 0000000120 OLC006
Example 2: Set DWG.A as follows:
OLC006 - DL00022 OLC006
Open the Register List Window and set DL00022 to 120 from the MP940 Pro-
gramming Panel.
Because DL00022 (register D in DWG.A) is backed up by battery, this program
will be executed and -120 will be set at OLC006 automatically when MP940
power is turned ON once the register is set.
DL00022 was used in this example, but any other D register (DLxxxxx) or M
register (MLxxxxx) can be used as well.
Because the initial incremental pulse will change within a rotation every time the
absolute encoder is initialized, the value -120 must be changed each time.
In Example 1, the user program must be changed from the Programming Panel.
In Example 2, only register data rather than the user program has to be changed
and this is done from the Programming Panel.
Example 2 is the most practical method in applications like repeating machines.
5. If the fixed parameter for motion command code selection has been set to enable the use
of motion command code and the motion command enable setting (OBC0008) has been
set to 1 (enabled), set the number of reference units. Set the number of pulses at all other
times.
Refer to 7.2.3 Initializing the Absolute Encoder for the procedure for initializing the absolute encoder.
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