Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 115)

4 Operation
4.5.2 Motor Position and Speed Responses
4-30
Encoder Type
The encoder information for the motor is set in Pn00C.2. An external encoder with fully-closed loop control is
always regarded as an incremental encoder.
(3) When External Encoder for Fully-closed Loop Control is Connected
The information from an external encoder is used as the encoder information.
(4) When External Encoder for Fully-closed Loop Control is Not Connected
The encoder information stored in the SERVOPACK is used for the encoder information.
• Resolution: 256
• Incremental encoder
4.5.2 Motor Position and Speed Responses
For the test without a motor, the following responses are simulated for references from the host controller
according to the gain settings for position or speed control.
• Servomotor position
• Servomotor speed
• Encoder position
The load model, however, will be a rigid system with the moment of inertia ratio that is set in Pn103.
Parameter Meaning
When
Enabled
Classification
Pn00C
n. 0
[Factory setting] Sets an incremental encoder as an encoder type for the
test without a motor.
After restart Setup
n. 1
Sets an absolute encoder as an encoder type for the test
without a motor.