Yaskawa MP920 User's Manual Design - Manual (Page 461)

10 Absolute Position Detection
10.3.1 Finite Length Mode Axis
10-16
„ 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 for a Finite Length Mode Axis.
Current position for the machine coordinate system =
(Encoder position when servo power is turned ON)*
+ Setting parameter OL††06: Zero Point Offset
* Multi-turn data × the number of encoder pulses + initial increment
Setting parameter OL††06: Zero Point Offset is always enabled in Finite Length Mode.
This means that the current position of the machine coordinate system (zero point setting)
can be changed at any time.
The meaning of setting parameter OL††06 will depend on whether Finite Length Mode or
Infinite Length Mode is set.
Finite Length Mode
Set - (IL††02) + OL††06 at OL††06 in order to make the current position of the
machine coordinate system the zero position.
IL††02 = 10,000 and OL††06 = 100
Setting the current position of the machine coordinate system to 0 when the zero point is set.
-(10,000) + 100 = -9,900
OL††06 to -9,900
IL †† 02: Monitor the calculated position of the machine coordinate system
Infinite Length Mode
Set the desired position at OL††06 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 OL††06 to 0.
EXAMPLE
EXAMPLE