Yaskawa JAPMC-MC2300 - Manual (Page 279)

10.3 Absolute Position Detection for Finite Length Axes
10.3.2 Detailed Descriptions on Parameter Settings for Finite Length Axes
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10.3.2 Detailed Descriptions on Parameter Settings for Finite Length Axes
( 1 ) Axis Selection (Machine Controller Fixed Parameter No.1, Bit 0)
This setting is used to select either an finite or infinite length axis.
Set to 0 when using the axis as a finite length axis.
( 2 ) Encoder Selection and Absolute Encoder Usage
For an axis performing absolute position detection, set the parameters as shown in the following table.
( 3 ) Encoder Resolution
The methods to set the fixed parameter No. 36 and No. 22 differs depending on the connected SERVOPACK model.
When a Σ-I Series SERVOPACK is Connected
When a Σ-II Series SERVOPACK is Connected
* 1. The actual value depends on the value of Pn201 (PG Divider). The values shown here are the max. values
that can be set for each encoder.
* 2. The set value when using a 17-bit encoder is limited to 16384 max. since the max. value that can be set for
Pn201 (PG Divider) is 16384.
When a Σ-III or Σ-V Series SERVOPACK is Connected
The actual value depends on the value of Pn212 (PG Dividing Pulse). The values shown here are the max. val-
ues that can be set.
Model Parameter Setting
SVA-01 Module
Fixed parameter 30
(Encoder Selection)
1: Absolute encoder
Σ-II/Σ-III/Σ-V Series
Parameter: Pn002.2
(Absolute Encoder Usage)
0: Uses absolute encoder as an absolute encoder.
Σ-I Series
Parameter: Cn-0001 Bit E
(Encoder Selection)
1: Absolute encoder
If the above settings are not used, correct motion control will not be performed. Set the parameters carefully.
Be sure to set both the SVA-01 Module and SERVOPACK parameters.
Number of Bits
Fixed Parameter No. 36
Number of Pulses per Motor Rotation
Fixed Parameter No. 22
Pulse Counting Mode Selection
12 1024 6: Pulse A/B mode (Input pulse multiplier: 4)
15 8192 6: Pulse A/B mode (Input pulse multiplier: 4)
Number of Bits
Fixed Parameter No. 36
Number of Pulses per Motor Rotation
Fixed Parameter No. 22
Pulse Counting Mode Selection
13 2048
∗1 6: Pulse A/B mode (Input pulse multiplier: 4)
16 16384 ∗1 6: Pulse A/B mode (Input pulse multiplier: 4)
17 16384 ∗1, ∗2 6: Pulse A/B mode (Input pulse multiplier: 4)
Number of Bits
Fixed Parameter No. 36
Number of Pulses per Motor Rotation
Fixed Parameter No. 22
Pulse Counting Mode Selection
17 16384
∗ 6: Pulse A/B mode (Input pulse multiplier: 4)
20 262144
∗ 6: Pulse A/B mode (Input pulse multiplier: 4)
If the above settings are not used, correct motion control will not be performed. Set the parameters carefully.