5 setting encoder output pulse, Rotation – Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-II Communication Reference User Manual
Page 126
4 Operation
4.4.5 Setting Encoder Output Pulse
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4.4.5 Setting Encoder Output Pulse
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 the number of encoder output pulses according to the system specifications of the
machine or host controller.
Note 1. An encoder output pulse setting error (A.041) will occur if the setting does not satisfy the required conditions
listed in the table.
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 approximately 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
Setting Range of Encoder Output
Pulses (P/Rev)
Setting Unit
Upper Limit of Servomotor Speed for
Set Encoder Output Pulses [min
-1
]
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
Speed
Position
Torque
Preset value: 16
One revolution
PAO
PBO
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Rotation