Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 361)

9.4 Absolute Position Detection for Infinite Length Axes
9.4.5 Infinite Length Position Control without Simple Absolute Positions
9-24
[ b ] Turning the System Back ON (Turning the Servo Back ON)
Set up position data again from the ladder program using high-speed scan timing as shown below. This is done when
MP2300 power or servo power is turned ON.
1.
Store Pulse Position at Power OFF and Encoder Position at Power OFF to setting parameters.
Store the Pulse Position at Power OFF and Encoder Position at Power OFF values saved in M register to the fol-
lowing setting parameters.
• Setting parameter: Encoder Position when the Power is OFF (All four words, form OL 5E to OL 60.)
• Setting parameter: Pulse Position When the Power is OFF (All four words, from OL 62 to OL 64.)
Store the contents of the buffer selected by the Toggle Buffer Selection Flag.
2.
Infinite Length Axis Position Information LOAD
Reset the Request ABS Rotary Pos. Load bit (setting parameter OW 00, bit 7) to 0, 1 and 0 again. This will
allow all position data to be settled. The following monitoring parameters will then be enabled and the Zero Point
Return (Setting) Completed bit (monitoring parameter IW
0C, bit 5) will turn ON.
• Monitoring Parameter: Encoder Position when the Power is OFF (All four words, from IL 5E to
IL 60.)
• Monitoring Parameter: Pulse Position When the Power is OFF (All four words, from IL 62 to IL 64.)
The system will create position data using the following equation when the Request ABS Rotary Pos. Load bit
turns ON.
• Pulse position = Pulse position at power OFF + (Encoder position − Encoder position at power OFF)*
* The portion in parentheses ( ) represents the moving amount while power is OFF.