Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 187)

5.9 Absolute Encoders
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5.9.4 Absolute Encoder Setup and Reinitialization
Setting up and reinitialization of the absolute encoder are necessary in the following cases.
• When starting the machine for the first time
• When an encoder backup error alarm (A.810) is generated
• When an encoder checksum error alarm (A.820) is generated
• When initializing the rotational serial data of the absolute encoder
Set up the absolute encoder with Fn008.
Note: The standard specification of the direct drive motor include an absolute encoder that shows values for a single rota-
tion, so an encoder backup error alarm (A.810) will not occur for direct drive motors. Also, rotational serial data is
always 0, so setting up the absolute encoder is not required.
(1) Precautions on Setup and Reinitialization
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• Set up or reinitialize the encoder when the servomotor power is OFF.
• If the following absolute encoder alarms are displayed, cancel the alarm by using the same method as the set
up (initializing) with Fn008. They cannot be canceled with the SERVOPACK alarm reset input signal (/
ALM-RST).
• Encoder backup error alarm (A.810)
• Encoder checksum error alarm (A.820)
• Any other alarms (A.8 ) that monitor the inside of the encoder should be canceled by turning OFF the
power.
(2) Procedure for Setup and Reinitialization
Follow the steps below to setup or reinitialize the absolute encoder.
CAUTION
• The rotational data will be a value between -2 and +2 rotations when the absolute encoder setup is exe-
cuted. The reference position of the machine system will change. Set the reference position of the host
controller to the position after setup.
If the machine is started without adjusting the position of the host controller, unexpected operation may
cause injury or damage to the machine. Take sufficient care when operating the machine.
Step
Display after Opera-
tion
Keys Operation
1 Press the MODE/SET Key to select the utility function.
2 Press the UP or the DOWN Key to select Fn008.
3
Press the DATA/SHIFT Key for approximately one second.
The display shown on the left appears.
4
Continue pressing the UP Key until "PGCL5" is displayed.
Note: If the wrong key is pressed, "no-oP" will flash for
about one second and it will return to the utility func-
tion. Start the operation from the beginning.
5
Press the MODE/SET Key. The absolute encoder is initial-
ized.
When completed, "donE" flashes for approximately one
second.
6 Then, "donE" changes to "PGCL5".
7
Press the DATA/SHIFT Key for approximately one second.
"Fn008" is displayed again.
8 To enable the change in the setting, turn the power OFF and ON again.
MODE/SET DATA/
MODE/SET DATA/
MODE/SET DATA/
MODE/SET DATA/
MODE/SET DATA/
MODE/SET DATA/