YASKAWA SVC - Page 230

4.2 Motion Command Details
4.2.21 ABS_RST (Reset Absolute Encoder)
4
Motion Control Program Commands and Instructions
4-87
 Setting Parameters
 Monitor Parameters
Register
Address
Name Setting Details
OW
00
Bit 0
Servo ON
Use this bit to turn the power to the Servomotor ON or OFF.
Set this parameter to 0 before setting OW08 to 22 (ABS_RST).
0: Servo OFF, 1: Servo ON
OW
08 Motion Command
When OW
08 is set to 22 (ABS_RST), the process to reset the
absolute encoder starts.
Even if it is set to 0 during processing, this setting will be ignored and
the operation will continue.
OW
09
Bit 0
Hold Command This bit is ignored for the ABS_RST command.
OW
09
Bit 1
Cancel Command This bit is ignored for the ABS_RST command.
Register
Address
Name Monitored Contents
IW
00
Bit 0
Motion Operation
Ready
This bit shows whether or not communications are synchronized
between the MP3000 and the slave SERVOPACK.
For the ABS_RST command, this bit is 1 (Motion operation ready) if
communications are synchronized between the MP3000 and the slave
SERVOPACK. This bit is 0 (Motion operation not ready) if communica-
tions are disconnected.
IW
00
Bit 1
Running with Servo
ON
This bit shows the servo status for the axis.
0: Stopped, 1: Running with servo ON
IL
02 Warning This parameter reports the current warning status.
IL04 Alarm This parameter reports the current alarm status.
IW08
Motion Command
Response Code
This parameter shows the motion command currently in execution.
This parameter is 22 during execution of the ABS_RST command.
IW
09
Bit 0
Command Execu-
tion Flag
This bit is 1 (Processing) during execution of the ABS_RST command.
The bit changes to 0 (Completed) when command execution ends.
IW
09
Bit 1
Command Hold
Completed
This bit is always 0 (Command hold not completed) for the ABS_RST
command.
IW
09
Bit 3
Command Error End
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the ABS_RST command. Command execution pro-
cessing is canceled.
IW
09
Bit 7
Absolute Encoder
Reset Completed
This bit changes to 1 (Reset completed) when absolute encoder reset is
completed.
IW
09
Bit 8
Command Execu-
tion Completed
This bit changes to 1 (Normal execution completed) when execution of
the ABS_RST command ends.