YASKAWA MP2000 Series - 9 Absolute Position Detection

9-1
Absolute Position Detection
9
Absolute Position Detection
This chapter explains an absolute position detection system that uses an absolute encoder. Be sure to
read this chapter carefully when using a Servomotor equipped with an absolute encoder.
9.1 Absolute Position Detection Function - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2
9.1.1 Outline of the Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.2 Reading Absolute Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.3 Finite Length/Infinite Length Axes and Absolute Position Detection - - - - - - - - - - - - - - 9-3
9.2 Setting Procedure of Absolute Position Detection Function - - - - - - - - - - - -9-4
9.2.1 System Startup Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.2.2 Initializing the Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
9.3 Absolute Position Detection for Finite Length Axes - - - - - - - - - - - - - - - - -9-6
9.3.1 Parameter Settings for Finite Length Axes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
9.3.2 Setting the Zero Point for a Finite Length Axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9
9.3.3 Turning ON the Power after Setting the Zero Point of Machine Coordinate System - - 9-12
9.4 Absolute Position Detection for Infinite Length Axes - - - - - - - - - - - - - - - - 9-13
9.4.1 Simple Absolute Infinite Length Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.4.2 Parameter Settings for Simple Absolute Infinite Length Position Control - - - - - - - - - - 9-15
9.4.3 Setting the Zero Point and Turning ON Power as Simple Absolute Positions - - - - - - - 9-18
9.4.4 Turning ON the Power after Setting the Zero Point - - - - - - - - - - - - - - - - - - - - - - - - - 9-19
9.4.5 Infinite Length Position Control without Simple Absolute Positions - - - - - - - - - - - - - - 9-19