Yaskawa JAPMC-MC2300 - Manual (Page 291)

10.4 Absolute Position Detection for Infinite Length Axes
10.4.4 Setting the Zero Point and Turning ON Power as Simple Absolute Positions
10-20
10.4.4 Setting the Zero Point and Turning ON Power as Simple Absolute Positions
( 1 ) Calculating the Zero Point of the Machine Coordinate System
If using the simple absolute infinite length position control, the Machine Controller calculates the axis position (i.e.,
current position for the machine coordinate system) as follows when the power is turned ON.
Calculated Position in Machine Coordinate System (monitoring parameter IL
10 *1
or IL 16
*1
) =
Encoder position when servo power is turned ON
*2
+ Zero Point Position in Machine Coordinate System
Offset (setting parameter OL 48)
To assign the current position of the machine coordinate system as the zero position, set the OL 48 (encoder posi-
tion when servo power turns ON) to a negative value. In other words, set OL 48 to the difference between
OL 48 and IL 10 (or IL 16).
* 1. Use the IL 10 to make the machine coordinate reference position as a standard, and IL 16 to make the
machine coordinate current position as a standard.
* 2. The encoder position when the servo power is turned ON is the value that is calculated with the following equation
and converted to reference unit: Multiturn data × Number of encoder pulses + initial increment pulses. Refer to
your SERVOPACK manual for information on the initial increment pulses.
Example: IL 10 = 10,000 and OL 48 = 100
Set the encoder position when servo power is turned ON to a negative value as shown below.
OL 48 － IL 10 = 100 － 10000
= － 9900
Set OL 48 to -9900 to assign the current position in the machine coordinate system as the zero point.
( 2 ) Setting the Zero Point for Simple Absolute Infinite Axis Position Control
The procedure to set the zero point for a simple absolute infinite axis position control is shown below.
Repeat for every axis.
Start
End
YES
NO
Servo ON
JOG to move close to the zero point.
STEP to move to the zero point.
Set OL 48 to OL 48 - IL 10.
Use the ZSET command to set the zero point.
Has the setting for the required axis been completed?