Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 222)

7.7 Absolute Encoders
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7.7 Absolute Encoders
If a servomotor with an absolute encoder is used, a home position setting when the machine setup is stored and
normal operation can be performed without homing operation.
7.7.1 Selecting an Absolute Encoder
Select the absolute encoder usage with the following parameter.
“0” in Pn002.2 must be set to enable the absolute encoder.
Note: This parameter setting goes into effect when the power is turned OFF and ON again after
the change has been made.
7.7.2 Absolute Encoder Setup
Perform the setup operation for the absolute encoder in the following circumstances:
• When starting the machine for the first time.
• When an encoder backup error (A.810) occurs.
• When an encoder checksum error (A.820) occurs.
• When the multi-turn data of absolute encoder is to be set to zero.
Perform the setup using a digital operator. The absolute encoder can also be initialized by using a
MECHATROLINK II Adjusting (ADJ) command. Refer to 11.3 Using the Adjusting Command (ADJ: 3EH) for
details.
Refer to 11.3 Using the Adjusting Command (ADJ: 3EH) for details.
After the setup processing is finished, turn the power back ON again.
1. The absolute encoder setup operation is only possible when the SERVOPACK is Servo OFF.
2. If the following absolute encoder alarms are displayed, perform the setup to reset the alarm. The alarm
cannot be reset by a MECHATROLINK Clear Alarm or Warning (ALM_CLR) command.
• Encoder backup alarm (A.810)
• Encoder checksum alarm (A.820)
If any other encoder-related alarm occurs, turn off the power to reset the alarm.
Parameter Description
Pn002 n. 0 Use the absolute encoder as an absolute encoder.
n. 1 Use the absolute encoder as an incremental encoder.
INFO
IMPORTANT