YASKAWA E-V-SD Series, Руководство пользователя, Страница: 58 / 185

4 Feed Axis Operation
4.5.6 Origin Offset
4-22
(2) Storing the Origin Offset in the SERVOPACK
Use SERVOPACK parameter Pn808 to set the origin offset.
∗
Effective after SENS_ON.
Example
To set the encoder coordinate position (x) as the machine coordinate origin (0), set Pn808 to -x.
Use the Write Servo Parameter command (SVPRM_WR: 41 hex) command to specify the setting.
CPOS: Command position
APOS: Coordinate system position (feedback position)
Use the following procedure to set the origin offset.
1.
After the power supply is turned ON, use the Turn Sensor ON command (SENS_ON: 23 hex) to
turn ON the encoder.
2.
Set up the coordinate system for the host controller by using the reference position (CPOS) and
align the coordinates for the SERVOPACK and host controller.
3.
Turn ON the main circuit power supply for the SERVOPACK and use the SV_ON (31 hex)
command to turn ON the servo.
4.
Use manual operation to move the machine axis to the machine reference point.
Now, set the origin in the host controller. With the current machine coordinate system position as APOS
and the reference point machine coordinate system position as APOS
new
, we get the following formula.
New origin offset (Pn808) = Previous value of Pn808 - (APOS - APOS
new
)
Use the SVPRM_WR (41 hex) command to write the new origin offset value to SERVOPACK parameter
Pn808.
5.
Use the SV_OFF (32 hex) command to turn OFF the servo.
6.
Use the SENS_OFF (24 hex) command to turn OFF the encoder.
7.
Use the SENS_ON (23 hex) command to turn ON the encoder.
The SERVOPACK will read the position data from the encoder and SVCMD_STAT.POS_RDY will
change to 1 when the coordinate system position (APOS) is ready. This enables the origin offset that was
set above.
If an error occurs in the encoder, SVCMD_STAT.POS_RDY will remain 0 even if the SENS_ON (23
hex) command is executed, but CMD_RDY will change to 1. Treat this as a current position detection
alarm at the host controller.
8.
Use the coordinate system position (APOS) to set the coordinate system on the host controller.
Origin offset completes when the coordinate system reset completes.
Pn808
Absolute Encoder Origin Offset
Classification
Setting Range Setting Unit Factory Setting When Enabled
-1073741823 to
1073741823
Reference units 0
Immediately
*
Setup
Machine coordinates
(CPOS and APOS)
Machine
coordinate origin
Current
position X
Common parameter 23
(Pn808)
Encoder coordinate
Encoder origin
X = x + Common parameter 23 (Pn808)
Common parameter 23 (Pn808): Absolute Encoder Origin Offset