Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 121)

4 Operation
4.5.4 Absolute Encoder Setup (Initialization)
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4.5.4 Absolute Encoder Setup (Initialization)
Setting up the absolute encoder is necessary in the following cases.
• When starting the machine for the first time
• When an encoder backup error (A.810) is generated
• When an encoder checksum error (A.820) is generated
• To set the absolute encoder rotational serial data to 0
Setup the absolute encoder with Fn008.
(1) Precautions on Setup
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• Setup the encoder when the servomotor power is OFF.
• The encoder backup error (A.810) and the encoder checksum error (A.820) cannot be reset by using the
SERVOPACK alarm reset. Be sure to perform setup using Fn008.
• Any other alarms that monitor the inside of the encoder (A.8 ) should be canceled by turning OFF the
power, then canceling the alarm.
(2) Procedure for Setup
Follow the steps below to setup the absolute encoder.
CAUTION
• The rotational data will be a value between -2 and +2 rotations when the absolute encoder setup is exe-
cuted. The reference position of the machine system will change. Set the reference position of the host
controller to the position after setup.
If the machine is started without adjusting the position of the host controller, unexpected operation may
cause injury or damage to the machine. Take sufficient care when operating the machine.
Step Display after Operation Keys Description
1 Press the key and select Fn008.
2
Press the key to view the execution display of
Fn008.
Note: If the display is not switched and “NO_OP” is
displayed in the status display, the Write Pro-
hibited Setting (Fn010 = 0001) is set. Check
the status and reset.
3
Keep pressing the Key until “PGCL1” is
changed to “PGCL5.”
4
Press the Key to setup the absolute encoder.
After completing the setup, “BB” in the status display
changes to “DONE.”
5
Press the Key to return to the display of the pro-
cedure 1.
6 Turn OFF the power and then turn it ON again to make the setting valid.
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