Yaskawa MP920 User's Manual Design - Manual (Page 469)

10 Absolute Position Detection
10.3.2 Infinite Length Mode Axis
10-24
Turning the System Back ON (Turning the Servo Back ON)
Set up position data again from the customer’s ladder logic program using high-speed scan
timing as shown below. This is done when system power or servo power is turned back ON.
1. Store Pulse Position at Power OFF and Encoder Position at Power OFF at setting
parameters.
Store the Pulse Position at Power OFF and Encoder Position at Power OFF values saved
in M register at the following setting parameters.
Store the contents of the buffer selected by the previously output Toggle Buffer Selec-
tion Flag at this time.
2. ABS System Infinite Length Position Control Data LOAD Request
Turn the setting parameter: ABS System Infinite Length Position Control Data LOAD
Request (OW††2D bit 2) OFF, ON and OFF again. This will allow all position data to
be checked. The following monitor parameters will then be enabled when monitor
parameter: Zero Point Setting Completed (IW††15 bit 3) is ON.
The system will create position data using the following equation when ABS System
Infinite Length Position Control Data LOAD is requested.
Pulse position = pulse position at power OFF
+ (encoder position - encoder position at power OFF)*
* Indicates the distance traveled while power is OFF.
Monitor parameter: Encoder Position at Power OFF (All four words at OL††38 to
OL††3A)
Monitor parameter: Pulse Position at Power OFF (All four words at OL††3C to OL††3E)
Monitor parameter: Encoder Position at Power OFF (All four words at IL††38 to IL††3A)
Monitor parameter: Pulse Position at Power OFF (All four words at IL††3C to IL††3E)