YASKAWA JEPMC-MP2300-Y Series User Manual

9
Absolute Position Detection
9.4.5
Infinite Length Position Control without Simple Absolute Positions
9-22
( 4 ) Ladder Program for Infinite Length Axis Position Control
If the Simple Absolute Infinite Length Position Control Function is not used, a special ladder
program is needed for normal operation and for operation when system power is turned ON.
[ a ] Normal Operation
1.
Check the status of the Zero Point Return (Setting) Completed bit.
Check to see if the Zero Point Return (Setting) Completed bit (monitoring parameter
IW

0C, bit 5) is ON. If it is, go to step 2.
If it is not, it means that the pulse position at power OFF, encoder position at power OFF and
all position data was not settled. In that case, restart the system and set up the position data
again or execute the ZSET (zero point setting) motion command to settle the position data all
over from the start.
2.
Save the modularized position at power OFF and absolute position at power OFF.
Use the ladder program to save the following monitoring parameters with high-speed scan
timing at an M register backed up by battery.
•
Monitoring Parameter: Absolute Position at Power OFF (All four words at IL5E to
IL60)
•
Monitoring Parameter: Modularized Position at Power OFF (All four words at IL62 to
IL64)
The M register that is used to save the above monitoring parameters is structured as shown
below.

Two buffers are needed to save the absolute position and the modularized position at power OFF
because the program may be exited without settling position data at all four words if power is
turned OFF during the high-speed scan.
MW

Bit 0 Toggle Buffer Enabled Flag (OFF: Disabled, ON: Enabled)
Bit 1 Toggle Buffer Selection Flag (OFF: Buffer 0, ON: Buffer 1)
Bit 2 Position Data Re-setup Request Flag (OFF: Complete, ON: Request)
MW

+1
Not used
ML

+2
ML

+4
Buffer 0
Monitoring Parameter:
Absolute Position at Power OFF
Lower-place two words (IL

5E)
Upper-place two words (IL

60)
ML

+6
ML

+8
Monitoring Parameter:
Modularized Position at Power OFF
Lower-place two words (IL

62)
Upper-place two words (IL

64)
ML

+10
ML

+12
Buffer 1
Monitoring Parameter:
Absolute Position at Power OFF
Lower-place two words (IL

5E)
Upper-place two words (IL

60)
ML

+14
ML

+16
Monitoring Parameter:
Modularized Position at Power OFF
Lower-place two words (IL

62)
Upper-place two words (IL

64)

YASKAWA JEPMC-MP2300-Y Series Specifications

General

Brand	YASKAWA
Model	JEPMC-MP2300-Y Series
Category	Controller
Language	English