Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Analog Voltage and Pulse Train Reference - Manual (Page 192)

5.9 Absolute Encoders
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Installing a Battery in the Host Controller
1. Turn ON the control power supply to only the SERVOPACK and converter.
2. Remove the old battery and mount the new battery.
3. After replacing the battery, turn OFF the control power supply to clear the absolute encoder battery error
alarm (A.830).
4. Turn ON the control power supply again.
5. Check that the alarm display has been cleared and that the SERVOPACK and converter operate normally.
5.9.4 Absolute Encoder Setup and Reinitialization
Setting up and reinitialization of the absolute encoder are necessary in the following cases.
• When starting the machine for the first time
• When an encoder backup error alarm (A.810) is generated
• When an encoder checksum error alarm (A.820) is generated
• When initializing the rotational serial data of the absolute encoder
Set up the absolute encoder with Fn008.
(1) Precautions on Setup and Reinitialization
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• Set up or reinitialize the encoder when the servomotor power is OFF.
• If the following absolute encoder alarms are displayed, cancel the alarm by using the same method as the set
up (initializing) with Fn008. They cannot be canceled with the SERVOPACK alarm reset input signal (/
ALM-RST).
• Encoder backup error alarm (A.810)
• Encoder checksum error alarm (A.820)
• Any other alarms (A.8 ) that monitor the inside of the encoder should be canceled by turning OFF the
power.
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.