Yaskawa MP940 User Manual
Page 329
7.3 Using an Absolute Encoder
7-15
7
Position Control with a Finite Length Mode Axis
Initialize the axis position as described next when power is turned ON if an absolute encoder
is used as a Finite Length Mode Axis.
∗
Multi-turn data x the number of encoder pulses + initial increment
Setting parameter OLC006: Machine Coordinate System Zero Point Offset is always
enabled in Finite Length Mode. This means that the current position of the machine coordi-
nate system (zero point setting) can be changed at any time.
The meaning of setting parameter OLC006 will depend on whether Finite Length Mode or
Infinite Length Mode is set.
Finite Length Mode
Set -(ILC002) + OLC006 at OLC006 in order to make the current position of the machine
coordinate system the zero position.
ILC002 = 10,000 and OLC006 = 100
Setting the current position of the machine coordinate system to 0 when the zero point is
set.
-(10000) + 100 = -9900 Set OLC006 to -9,900
ILC002: Monitor the calculated position of the machine coordinate system
Infinite Length Mode
Set the desired position at OLC006 and that setting will be used for the current position of
the machine coordinate system when the zero point is set.
Setting the current position of the machine coordinate system to 0 when the zero point is set
Set OLC006 to 0.
Current position for the machine coordinate system =
Encoder position when servo power is turned ON + Setting parameter OLC006: Machine Coordi-
nate System Zero Point
∗
Offset