YASKAWA SVC - Reading Position Data When the Power Supply Is Turned on

5.2 Absolute Encoders
5.2.5 Reading Position Data When the Power Supply Is Turned ON
5-25
5
Machine-Specic Motion Control
5.2.5 Reading Position Data When the Power Supply Is
Turned ON
This section describes reading the position data from an absolute encoder.
Reading the Position Data from the Absolute Encoder
When the power supply to the MP3000 is turned ON, the MP3000 reads the absolute encoder
position data from the slave SERVOPACK through MECHATROLINK-III communications.
The MP3000 system automatically reads the position data, so no programming is required.
Turn ON the power supply to the slave SERVOPACK first, or simultaneously turn ON the power
supplies to the MP3000 and slave SERVOPACK.
The flow of the procedure from turning ON the power supply to obtaining the position data is
illustrated in the following figure.
Process
Order
Description
1
After the power supply is turned ON, the MP3000 sends a request to the slave SERVOPACK
to send the current value when MECHATROLINK communications are established.
2
The slave SERVOPACK gets the current value data from the absolute encoder when it
receives the current value request.
3 The slave SERVOPACK sends the current value data position information to the MP3000.
4
The MP3000 calculates the current value in the machine coordinate system from the elec-
tronic gear and machine coordinate system zero point offset (in the OL48 setting
parameter) data and places it in the position monitor registers.
MP3000
Position Monitors
(IL
0E
to IL
16)
4. Electronic gear
origin offset
MECHATROLINK
-III
Encoder
Monitor parameters
Motor
SERVOPACK
SVC Function Module
Current value in
machine coordinate
system calculated.
1. Requesting the
current value data
2. Sending the absolute
value data
3. Sending the current
value data