YASKAWA SVC - ABS_RST (Reset Absolute Encoder)

4.2 Motion Command Details
4.2.21 ABS_RST (Reset Absolute Encoder)
4-86
4.2.21 ABS_RST (Reset Absolute Encoder)
You can reset the absolute encoder by executing the ABS_RST command.
The absolute encoder must be reset in the following cases:
• When the machine is initially started
• When an A.810 alarm (Encoder Backup Alarm) occurs
• When an A.820 alarm (Encoder Checksum Alarm) occurs
The ABS_RST command is enabled for an axis that uses an absolute encoder.
Refer to the following section for the procedure to reset an absolute encoder for a MECHA-
TROLINK-III slave axis without using this command.
5.2.3 Resetting the Absolute Encoder on page 5-20
Execution and Operating Procedures
1. Make sure that all of the following conditions are met.
* If an A.810 alarm (Encoder Backup Alarm) or an A.820 alarm (Encoder Checksum Alarm) occurs, com-
munications cannot be synchronized by simply turning ON the power supplies to the MP3000. To syn-
chronize communications, set bit F in the OW
00 setting parameter (Run Command Settings) to 1
(ON).
2. Set the OW  08 setting parameter (Motion Commands) to 22 to execute the
ABS_RST motion command.
If an alarm occurs, the alarm will be reset and the multiturn data of the absolute encoder will be reset
to 0.
During command processing, IW
 08 changes to 22 during command execution, and bit 0 (Com-
mand Execution Flag) in IW
 09 changes to 1 (Processing). When processing is completed, bit 0
in IW
 09 changes to 0 (Completed), bit 3 (Command Error End (FAIL)) in IW  09 changes to
0 (Completed normally), bit 0 in IW
 00 changes to 0 (Operation not ready), and bit 7 (Absolute
Encoder Reset Completed) in IW
 09 changes to 1 (Reset completed).
3. Set OW  08 (Motion Commands) to 0 to execute the NOP motion command.
4. Turn the power supply to the SERVOPACK OFF and ON again
This concludes the procedure to reset the absolute encoder.
Holding and Canceling Commands
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW  09 setting parameter can-
not be used to stop the axis. If a communications error occurs during command execution,
command processing will be canceled and the command will end in an error.
Related Parameters
The parameters that are related to this command are listed in the following table.
The ABS_RST command is valid for SERVOPACKs with absolute encoders. The command will
end in an error if the ABS_RST command is executed when an incremental encoder is used (even
if it is used as an absolute encoder) or if a servo amplifier from another company is used.
No. Execution Condition Confirmation Method
1
Synchronous communications must be estab-
lished with the SERVOPACK.*
Bit 0 in IW
00 must be 1.
2 The servo must be OFF. Bit 1 in IW00 must be 0.
3 Motion command execution must be completed.
IW08 must be 0 and bit 0 in
IW
09 must be 0.
Important