YASKAWA MP2100 Series User Manual

10 Absolute Position Detection
10.3.2 Infinite Length Axis
10-24
(a) 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 system power or servo power is turned back ON.
1. Store Modularized Position at Power OFF and Absolute Position at Power OFF to setting parameters.
Store the Modularized Position at Power OFF and Absolute Position at Power OFF values saved in M reg-
ister to the following setting parameters.
• Setting parameter: Absolute Position at Power OFF (All four words at OL

5E to OL

60)
• Setting parameter: Modularized Position at Power OFF (All four words at OL

62 to OL

64)
Store the contents of the buffer selected by the Toggle Buffer Selection Flag.
2. Load Request for Absolute System Infinite Length Position Control Information
Set the Infinite Length Axis Position Information 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: 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 system will create position data using the following equation when Infinite Length Axis Position
Information LOAD is requested.
• Modularized position = Modularized position at power OFF + (Absolute position
−
Absolute position
at power OFF)
∗
* The portion in parentheses ( ) represents the moving amount while power is OFF.

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English