Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Command Option Interface - Manual (Page 282)

8 Fully-closed Loop Control
8.1.6 Precautions When Using an External Incremental Encoder by Magnescale
8-10
When Using an External Encoder with Multiple Zero Points and Passing 1st Zero Point in
Forward Direction and Returning after Power ON
When using an external encoder with multiple zero points, the same logic as that explained earlier for an
encoder with only one zero point applies to each zero point.
See When Passing 1st Zero Point in Forward Direction and Returning after Power ON.
When Using an External Encoder with Multiple Zero Points and Passing 1st Zero Point in
Reverse Direction and Returning after Power ON
When using an external encoder with multiple zero points, the same logic as that explained earlier for an
encoder with only one zero point applies to each zero point.
See When Passing 1st Zero Point in Reverse Direction and Returning after Power ON.
Power ON
Time
Phase-C pulse output
Scale count-up
direction
Zero point 1 detection position
Zero point 2 detection position
Even after zero point 1 has first been passed
in the forward direction, the phase-C pulse is not
output here because zero point 2 is passed
in reverse direction. The phase-C pulse is also output when passing this point
in reverse, because the SERVOPACK has recorded
the position where the phase-C pulse was originally output
when first passing the position in the forward direction.
Zero point 1 Zero point 1 Zero point 2 Zero point 2
Time
Scale count-up
direction
Zero point 1 detection position
Zero point 2 detection position
Zero point 3 detection position
Power ON
Phase-C pulse output
Zero point 1 Zero point 3 Zero point 2 Zero point 2 Zero point 2
Phase-C pulse is not output when passing
a zero point in reverse direction.
Zero point 3