Yaskawa MP940 - Manual (Page 339)

7.3 Using an Absolute Encoder
7-25
7
The following programming example (ladder logic program) is for the flowchart shown in
the previous page. The axis used here is axis No. 1 of module No. 1. Change the motion
parameter register number if the module and axis numbers are different.
IFON
IFON
$FSCAN-H
SB000001
IB0000E
MB300005
HII
MB30000
5
SB000004
$ONCOI
L
MB300002
SB000004
$ONCOIL
MB300002
MB300000
IEND
ELSE
IEND
SVRDY
IBC0007
IFON
IBC0173
IFON
MB300002
IFON
MB300001
IFON
ABS System Infinite Length Mode Axis: Axis No. 1
First address in the toggle buffer: MW30000
(ON for just one scan after high-speed scan starts)
Servo Power Supply Turned Back ON Signal ON?
First scan or Servo Power Supply Turned Back ON Signal ON
Toggle Buffer Enabled Flag ON
Position Data Re-setup Request Flag ON
Position Data Re-setup Request Flag OFF
(Operation preparation completed)
Position Data Re-setup Request Flag
ABS System Infinite Length Position Control Data Initialization Completed Flag
Toggle Buffer Selection Flag
MB300005
$ONCOIL
SB000004
ELSE
$ONCOIL
SB000004