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5 Parameter Setting and Functions

5.4.3 Setting Home Position

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5.4.3 Setting Home Position

Set the origin or the difference between the reference coordinates and absolute encoder position (the absolute

encoder offset) for parameter PnB25.

(1) When Using an Incremental Encoder

When the power is turned ON and when homing is completed, the setting for PnB25 is set as the current value.

(2) When Using an Absolute Encoder

Use one of the following methods to set the home position.

• Execute the ZSET serial command.

• Use the FnB09 utility function.

*The function FnB09 is available for the following software versions.

INDEXER module: Version 3 or later

SERVOPACK: Version 001B or later

• Set PnB25 to the value calculated with the equation explained in the following section.

The value for PnB25 can be calculated from the following equation.

PnB25 = Current setting of PnB25 + nnnnnnnn - Position reference current position

PnB25: Absolute encoder offset

nnnnnnnn: Desired position (Usually zero)

Position reference current position: Can be monitored with the serial command “PON” or “MON1.”

When using the linear type coordinate (PnB20 = 0), set the calculated value in PnB25.

When using a rotary type coordinate (PnB20 ≠ 0), set the results in PnB25 after performing the following cal-

culations so that the following relationships are satisfied: PnB23 ≤ PnB25 ≤ PnB21.

• If the results is smaller than PnB23 (the starting point of the rotational coordinates) add the width of the

coordinates (PnB21 − PnB23 + 1).

• If the results is larger than PnB21 (the end point of the rotational coordinates) subtract the width of the coor-

dinates (PnB21 − PnB23 + 1).

Making the above setting will change the current position of the machine to nnnnnnnn.

PnB25

Origin (Incremental Encoder)

Absolute Encoder Offset (Absolute Encoder)

Setting Range Setting Unit Factory Setting When Enabled

-99999999 to 99999999 Reference unit 0 After restart

After changing parameter Pn20E, Pn210, Pn205 or PnB20 to PnB25, turn the control

power OFF and then ON again to enable the new setting.

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YASKAWA SERVO Manuel d'utilisateur Page 78