Yaskawa MP930 - Manual (Page 236)

7.2 Starting the Absolute Position Detection Function
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7.2 Starting the Absolute Position Detection Function
This section describes the procedure that is used to start the Absolute Position Detection Function.
7.2.1 System Startup Procedure
The Servopack, Servomotor, and other peripheral devices must be checked before starting up
the absolute position detection system.
The system must be started up using the following procedure.
1. Check Devices
Check to see if the Servopack, Servomotor, and cables are the right products and models
for the absolute encoder.
2. Check Parameters Related to the Servopack
Check to see if the Servopack parameters (user constants) are for an absolute encoder. Also
check to see if the number of encoder pulses is set properly.
3. Set Parameters Related to the MP930
Set all parameters related to the Absolute Position Detection Function.
4. Initialize the Absolute Encoder
Follow the setup procedure to set the absolute encoder to default values.
5. Zero Point Setting
Set the zero point as well as the absolute zero point, that is, the machine coordinate zero
point.
The status of the encoder will change to operation preparation complete if steps 1 to 5 are suc-
cessfully completed, and the absolute position detection system will be ready for operation.
Perform the absolute position detection system startup procedure in the following situations.
D When starting up the absolute position detection system for the first time
D When the Servomotor is changed
D When an absolute encoder-related alarm occurs
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