Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 284)

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
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.
To output the phase-C pulse when a detection point is passed in reverse, set the following parameter to 1.
Note: A SERVOPACK with software version 0023 or later supports this parameter.
Parameter Meaning When Enabled Classification
Pn081
n. 0
[Factory Setting]
Outputs phase-C pulse only in forward direction.
After restart Setup
n. 1
Outputs phase-C pulse in forward and reverse
direction.
Scale count-up direction
Power ON Time
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
Rotation