YASKAWA MP2100 Series User Manual

10.3 Using an Absolute Encoder
10-21
10
(6) Ladder Program for Infinite Length Axis Position Control
Ladder program for normal operation and for restarting the system is needed for absolute infinite length axis
position control when the simple absolute infinite length position control function is not used.
(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.
Note: 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 MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English