Yaskawa MotionWorks IEC Hardware - Manual (Page 40)

MotionWorks IEC Hardware Configuration – 2013-03-26 37
Commanded velocity in blue (Parameter 1011). Post S - curve commanded velocity in red (Parameter 1021)
Note:
For rotary mode applications using the Moving Average Filter, use firmware
1.2.1 or greater.
1.8.11 Dual Encoder (Full Closed Loop)
Configuration of a fully closed module on a Sigma-5 Servopack is possible
by setting parameters on the 'Dual Encoder' and 'Configuration' tab.
1. Set Pn20A, Number of External Scale Pitch.
2. Set Pn002.2 = 1 (Use absolute encoder as incremental.)
3. Set Pn002.3 to 1 or 3 depending on the direction of the fully closed
encoder.