Yaskawa AC Drive - A1000 Motion Control Custom - Manual (Page 39)

6 Absolute Encoder Specifications
YASKAWA TM.A1000SW.117 Motion Control Custom Software Supplement 39
6 Absolute Encoder Specifications
‹ Absolute Encoder Applications Considerations
• Up to 18 bits of gray code information can be interfaced to the drive.
• Available only for Linear Absolute applications.
• Requires a DI-A3 option card installed at CN5-B or CN5-A on the drive.
• In addition to the gray code encoder, requires a separate motor-mounted incremental encoder AND a PG-X3/PG-B3
option card installed at CN5-C on the drive.
• Logic Levels: +24 Vdc (true) and 0 Vdc (false).
• Gray code encoder must be capable of sinking current on its outputs.
• Mountable directly on machine or on motor (gear ratio available).
• Tested with a Dynapar ai2512122B121 multi-turn gray code encoder. This encoder has 12 bits of resolution per
revolution, and 12 bits of revolutions.
• External power supply required to power absolute encoder.
• Position reference for any move will be clamped between 0 counts and 262,143 counts when a Gray Code encoder is
enabled. If the encoder is manually moved out of this range (ie below zero or above 262,143 counts), the position
tracking will not work correctly. It is strongly recommended to keep all moves at least 500 counts away from these
limits in case of overshoot during a move.
Table 16 Absolute Encoder Wire Color Chart For Dynapar PN ai2512122B121
Signal Color Pin
Counts
S0 Brown 2
S1 Green 21
S2 Yellow 3
S3 Grey 22
S4 Pink 4
S5 Violet 23
S6 Grey / Pink 5
S7 Red / Blue 24
S8 White / Green 6
S9 Brown / Green 25
S10 White / Yellow 7
S11 Yellow / Brown 26
Revolutions
M0 White / Grey 8
M1 Grey / Brown 27
M2 White / Pink 9
M3 Pink / Brown 28
M4 White / Blue 14
M5 Brown / Blue 33
M6 White / Red 15
M7 Brown / Red 34
M8 White / Black 16
M9 Brown / Black 35
M10 Grey / Green 17
M11 Yellow / Grey 36
Misc. Control
Alarm Pink / Green 18
Direction Yellow / Pink 10
Latch Green / Blue 30
Tristate Yellow / Blue 12