Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 282)

8 Fully-closed Loop Control
8.1.6 Precautions When Using an External Incremental Encoder by Magnescale
8-8
8.1.6 Precautions When Using an External Incremental Encoder by Magnescale
When an external incremental encoder by Magnescale Co., Ltd. is used, the count direction of the encoder
determines if a phase-C pulse (CN1-21, CN1-22) is output and counted.
Note: The count direction (counting up or down) of the encoder determines if a phase-C pulse is output. The output of the
pulse does not depend on the settings of these parameters: Pn000.0 (motor rotational direction ) and Pn002.3 (exter-
nal encoder usage method).
When Passing 1st Zero Point in Forward Direction and Returning after Power ON
After the power is turned on, the phase-C pulse (CN1-21, CN1-22) is output when the external encoder moves
forward and its detection head first passes the phase-C detection position. After the detection head of the
encoder passes the detection position in a forward direction, the phase-C pulse is output when the head passes
the position regardless of the direction of the encoder’s movement.
Model Interpolator Scale pitch ( μm)
SL710
PL101-RY
800
SL720 800
SL730 800
SR75 80
SR85 80
Scale count-up direction
Phase-C detection position
Power ON
Time
Phase-C pulse output
The phase-C pulse is also output when the detection head of the encoder passes
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.
Rotation