Yaskawa Sigma II Series Servo System - Manual (Page 183)

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions
5-97
5.7 Absolute Encoders
If a motor with an absolute encoder is used, a system to detect the absolute position can be
formed in the host controller. Consequently, automatic operation can be performed
without zero return operation immediately after the power is turned ON.
Motor SGM H- 1 ···With 16-bit absolute encoder
SGM H- 2 ···With 17-bit absolute encoder
Note: After the limit has been changed in multi-turn limit setting parameter (Pn205), the power must be
cycled. This generates a Multi-turn Limit Disagreement Alarm (A.CC). Make sure that the entered
value is appropriate before resetting this alarm. For more information see: 5.7.2 Configuring an
Absolute Encoder, and 9.2.1 Troubleshooting Problems with Alarm Displays.
• When using the “Infinite Length Positioning System” be sure to take into account the changes made in the
continuous counting method when limits are exceeded, as compared in the following table.
The output range of multi-turn data for Sigma II series absolute detection system differs from that used in
conventional (Sigma) 12- and 15-bit encoder systems.
Absolute Encoder Type
Output Range of
Multi-turn Data
When the Output Range Exceeds the Limit:
(Sigma) conventional type
12- and 15-bit encoder
-99999 to +99999
• When the upper limit (+99999) is exceeded in the positive
direction, the counter displays 00000 and begins counting up
again.
• When the lower limit (-99999) is exceeded in the negative
direction, the counter displays 00000 and begins counting
down again.
Sigma II Series
16- and 17-bit encoder
-32768 to +32767
• When the upper limit (+32767) is exceeded in the positive
direction, the counter changes polarity (-32767) and begins
counting up (toward zero and beyond).
• When the lower limit (-32767) is exceeded in the negative
direction, the counter changes polarity (+32767) and begins
counting down (toward zero and beyond).
Always detects
absolute position.
Origin return operation
Absolute encoder
WARNING