Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 95)

4 Operation
4.2.6 Encoder Output Pulse Setting
4-12
4.2.6 Encoder Output Pulse Setting
Set the encoder output pulse using the following parameter.
Pulses from the encoder per revolution are divided inside the SERVOPACK by the number set in this parame-
ter before being output. Set according to the system specifications of the machine or host controller.
According to the encoder resolution, the number of encoder output pulses are limited. Set the encoder output
pulses (Pn212) by the following setting unit.
Note 1. The setting range varies with the encoder resolution for the servomotor used.
An encoder output pulse setting error (A.041) will occur if the setting is outside the allowable range or does not
satisfy the setting conditions.
Pn212 = 25000 (P/Rev) is accepted, but
Pn212 = 25001 (P/Rev) is not accepted. The alarm A.041 is output because the setting unit differs from that in
the above table.
2. The upper limit of the pulse frequency is approx. 1.6 Mpps.
The servomotor speed is limited if the setting value of the encoder output pulses (Pn212) is large.
An overspeed of encoder output pulse rate alarm (A.511) will occur if the motor speed exceeds the upper limit
specified in the above table.
Output Example: When Pn212 = 16 (16-pulse output per one revolution), PAO and PBO are output as shown
below.
Pn212
Encoder Output Pulses
Classification
Setting Range Setting Unit Factory Setting When Enabled
16 to 1073741824 1 P/Rev 2048 After restart Setup
Speed Position Torque
Setting Range of
Encoder Output
Pulses
(P/Rev)
Setting Unit
(pulse)
Encoder Resolution
Upper Limit of Servomotor Speed for
Set Encoder Output Pulses
(min
-1
)
13 bits
(8,192
pulses)
17 bits
(131,072
pulses)
20 bits
(1,048,576
pulses)
16 to 2048 1 – – 6000
16 to 16384 1 – 6000
16386 to 32768 2 – 3000
32772 to 65536 4 – – 1500
65544 to 131072 8 – – 750
131088 to 262144 16 – – 375
Preset value: 16
1 revolution
PAO
PBO
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16