Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 239)

6.2 Motion Command Details
6.2.21 Absolute Encoder Reset (ABS_RST)
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6.2.21 Absolute Encoder Reset (ABS_RST)
The ABS_RST command initializes the absolute encoder via MECHATROLINK.
Initialization of the absolute encoder is required in the following cases.
• Before initial operation of a machine
• When the alarm A.81 “Encoder Backup Alarm” has occurred.
• When the alarm A.82 “Encoder Checksum Error” has occurred.
The ABS_RST command is valid for Σ-II, Σ-III, and Σ-V Series SERVOPACKs with absolute encoder. A command
error will occur if the ABS_RST command is executed for a Σ-I Series SERVOPACK. A command error will also
occur if the ABS_RST command is executed when an incremental encoder is being used (even if it is being used as
an absolute encoder).
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set OW 08 to 22 to execute the ABS_RST motion command.
The ABS_RST command will clear any alarms that have occurred and resets the multiturn data in the absolute
encoder to 0.
IW
08 will be 22 and IW 09 Bit0 will turn ON during command processing.
IW 09 bit 0, IW 09 bit 3, and IW 00 bit 0 will turn OFF and IW 09 bit 7 will turn ON when the
command processing has been completed.
3. Set OW 08 to 0 to execute the NOP motion command to initialize the absolute encoder.
When using an SGDH SERVOPACK, always turn OFF the power to the SERVOPACK and then turn it ON again
after executing the ABS_RST command.
When the absolute encoder has been reset, communication will be disconnected between the Machine Controller
and the SERVOPACK. The zero point setting completed and zero point return completed status will thus be cleared.
Use the Alarm Clear bit (OW
00, bit F) after executing the ABS_RST command, re-establish communication, and
then execute the ZRET or ZSET command.
If the ABS_RST command is executed while an A.81 alarm occurs, the alarm clear operation will have to be per-
formed twice before communication can be synchronized again.
( 2 ) Holding and Aborting
The Holds a Command bit (OW 09, bit 0) and the Interrupt a Command bit (OW 09, bit 1) cannot be used.
Processing will be canceled if a communication error occurs while the command is being executed and a command
error will occur.
SGDV and SGDH+ NS115 SERVOPACKs need to be restarted after this function is executed.
SGDS SERVOPACKs, however, can be used after resetting the absolute encoder and clearing the alarm.
No. Execution Conditions Confirmation Method
1
Communication with the SERVOPACK must be synchro-
nized.
IW 00, bit 0 is ON.
2 The Servo OFF condition. IW 00, bit 1 is OFF.
3 Motion command execution has been completed. IW 08 is 0, and IW 09, bit 0 is OFF.