Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors MECHATROLINK-III Communications Reference - Manual (Page 119)

4.4 Trial Operation
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4.4.5 Setting Encoder Output Pulse
Set the encoder output pulse using the following parameter.
Note: The maximum setting for the encoder output resolution is 4096. When the number of divisions on the linear scale is
more than 4096, the data shown in 4.4.3 Feedback Resolutions of Linear Scale is no longer applicable.
Set the encoder output resolution for encoder pulse output signals (PAO, /PAO, PBO, /PBO) from the SER-
VOPACK to the host controller.
Feedback pulses per linear scale pitch (Pn282) are divided inside the SERVOPACK by the value set in Pn281
before being output. Set according to the system specifications of the machine or host controller.
The setting range varies with the motor maximum speed (Pn385) and linear scale pitch (Pn282).
The upper limit value for Pn281 can be obtained by the following equation.
Upper limit value for Pn281 = × 72
Note: When the scale pitch is 4 μm, the motor maximum speed is limited to 1 ms/s because of the maximum response fre-
quency of serial converter unit.
If the set value is out of the setting range or does not satisfy the setting conditions, the alarm "Encoder Output Pulse
Setting Error" (A.041) is output.
If the motor speed exceeds the upper limit value according to the set encoder output resolution, the alarm "Over-
speed of Encoder Output Pulse Rate" (A.511) is output.
The upper limit of encoder output resolution is limited by the frequency dividing specification of serial converter
unit.
Setting Example
When the linear scale pitch = 20 μm (Pn282 = 2000) and the motor maximum speed = 5 m/s (Pn385 = 50),
Pn281 = 28 is accepted, but Pn281 = 29 is not accepted and A.041 is output.
Output Example
When Pn281 = 20 (20-edge output (5-pulse output) per linear scale pitch),
Note: When the linear scale is directly connected to the SERVOPACK and a serial converter unit is not used, Pn282 is not
valid. On the Un084 and Un085 monitors, check the linear scale pitch.
Pn281
Encoder Output Resolution
Classification
Setting Range Setting Unit Factory Setting When Enabled
1 to 4096 1 edge/pitch 20 After restart Setup
Speed Position Force
Pn282/100
Pn385
Phase A
Phase B
Linear scale pitch (Pn282)
Linear