FAQ: Is there a procedure for starting up an MP940 with an absolute encoder?
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Absolute Encoder setup with MP940 and MotionWorks +
1) Plug in absolute encoder motor and absolute encoder backup battery to Sigma II amplifier. Use Yaskawa part number JZSP-BA01 battery (Toshiba, ER3 V, 3.6V).
2) Turn power On and drive error "A81" will appear on drive display.
3) Open Sigma II user's manual, troubleshooting page 9-19.
4) The solution in the manual shows to follow the absolute encoder setup in the Sigma II user's manual.
5) Follow the absolute encoder setup procedure in section 5.7.4 in Sigma II user's manual (see attached file below).
6) Cycle power, the drive error "A81" will be gone and "bb" will show on drive display.
7) Start MotionWorks +. Open a new project and open Tools / Machine Unit Configuration window from the main menu bar.
8) Enter a value of "16384" in the Encoder pulse / rev data field.
9) Set Encoder Type to "Absolute". Click "OK" to close the window.
10) Open Project / Data / System Variable Definition window from the main menu bar. Enter a value of 0.0 in the sHome_Offset data field. Click on "Save Values To Hard Disk", then click on "Close" to close the window.
11) Save project, go online, compile and download.
12) Open Project / Monitoring / Variable Watch window from the main menu bar and monitor mPosition_Actual. Record this actual position value.
13) Reopen the Project / Data / System Variable Definition window and enter the negative value of the value monitored in mPosition_Actual into the value for sHome_Offset. Press enter, then click on "Save Values To Hard Disk", then click on "Close" - to close the window.
14) Save project, compile and download. This sets the current actual position to be 0.0.
15) Open Variable Watch window and monitor mPosition_Actual. It should be 0.0.
16) Setup completed.
Note: When absolute encoder is used, the range of the number of encoder turns is
from -32768 to +32767.
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Please read and understand the product instruction manual before installing, servicing or operating Yaskawa products. FAQ content and illustrations are provided as technical advice to augment the information in manual, not supersede it. It is not possible to give detailed instructions for all types of installation or support activities. The information described in the FAQs are subject to change without notice to improve the product or FAQ. Yaskawa assumes no responsibility for errors or omissions or damages resulting from the use of the information contained in any FAQ. All warnings, cautions and product instruction for product use must be followed. Installation, operation and maintenance should be carried out by qualified personnel. Failure to observe these and other precautions highlighted in the product manuals will expose the user to high voltages resulting in, serious injury or death. Qualified personnel are defined as individuals who are familiar with the installation, starting, operation and maintenance of Yaskawa products of the type described and have proper qualifications to perform the work.
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