5.2 Absolute Encoders
5.2.6 Position Management Method for Each Machine Operation Type
5-43
5
Machine-Specic Motion Control
When the Power Supply Is Turned ON
Set the position information again from a ladder program in the high-speed scan as shown
below when the system power supply is turned OFF and ON again. This operation must be
performed when the power supply to the MP3000 or to the slave SERVOPACK is turned OFF
and ON again.
1.
Store the Power OFF Pulse Position and Power OFF Encoder Position values that are
saved in the M registers to the following setting parameters.
• All four words of the OL
5E/OL
60 setting parameters (Power OFF Encoder Position)
• All four words of the OL
62/OL
64 setting parameters (Power OFF Pulse Position)
Store the contents of the buffers selected by the Toggle Buffer Selection Flag.
2.
Set bit 7 (Absolute Infinite-length Position Information Load Request) in the OW
00
setting parameter to 0 (OFF), 1 (ON), and then 0 (OFF) again.
This allows all position information to be set. Bit 5 (Zero Point Return/Setting Completed) in the
IW
0C monitor parameter changes to 1 (Zero point return/setting completed) and the following
monitor parameters are enabled.
• All four words of the IL
5E/IL
60 monitor parameters (Power OFF Encoder Position)
• All four words of the IL
62/IL
64 monitor parameters (Power OFF Pulse Position)
The system creates position information using the following formula when the Absolute Infinite-length
Position Information Load Request bit changes to 1.
• Pulse position = Power OFF pulse position + (Encoder position - Power OFF encoder position)*
* The portion in parentheses ( ) represents the travel distance while the power supply is OFF.
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