Yaskawa Sigma II Series Servo System - Manual (Page 227)

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions
5-141
Specifications of Single-turn Data Absolute Encoder Model
UTSB -B
Item Specifications
Battery for absolute encoder Not required
(Because no multiturn data needs to be stored.)
Fn008: Absolute encoder multi-turn reset
function
Set to NO_OP and disabled
Fn013: Multiturn limit setting change when a
multiturn limit disagreement alarm (A.CC)
occurs
Set to NO_OP and disabled
Pn205: Multi-turn limit setting Can be set, but the setting of Pn205 does not have any effect.
The alarm A.CC does not occur when the setting is changed. And
the multi-turn data is always "0" regardless of the Pn205 setting.
Pn002.2: Absolute encoder usage Same as for the multi-turn absolute encoder
Pn002.2=0: Use the absolute encoder as an absolute encoder
Pn002.2=1: Use the absolute encoder as an incremental encoder
PAO serial data The transmission format is the same as that of multi-turn absolute
data
However, the data section is always set to ì0î as follow.
P+00000 [CR]
PSO serial data The transmission format is the same as that of multi-turn absolute
data
However, the data section is always set to ì0î as follow.
P+00000, nnnnnnn [CR]
(n represents the absolute value within one rotation.)
Initial incremental pulse output time The output pulse frequency is not changed. Therefore, the initial
incremental pulse output time increases according to the number
of bits of the mounted encoder.
As the maximum resolution of the existing specification is 16 bits,
the output time is 25 ms. With 20-bit encoder, the output time is
386 ms.
The equation to obtain the output time by the number of bits of
encoder is given below. The output time obtained by the equation
is the minimum required time.
T = (2
n /170) × (62.5/1000) [ms]
T: Minimum time required to output initial incremental pulses
n: Number of encoder bits
Ex.) 16-bit encoder: T = (65536/170) × (62.5/1000) = 24.094 →
25ms
20-bit encoder: T = (1048576/170) × (62.5/1000) = 385.506
→ 386ms