Yaskawa AC Drive - A1000 Motion Control Custom - Manual (Page 22)

5 Function Description
22 YASKAWA TM.A1000SW.117 Motion Control Custom Software Supplement
„ Encoders
Single Incremental Encoder
The encoder used for positioning is mounted to the motor, and serves two purposes. One is to provide velocity feedback
for the Flux Vector control method, and the other is to provide position information to the motion control software. In
order for this to work, there needs to be a positive drive setup, such as a direct-coupled gear box or a cogged timing belt
between the motor and the load. When this scheme is employed, there is no compensation for backlash or slack in the
mechanical system. A PG-X3 or a PG-B3 encoder feedback card is required to be installed in the CN5-C option card slot.
Note: Wiring between for the encoder marker pulse (Z+ and Z-) is only required if using a Homing w/marker homing routine
(P2-01=4 or 5).
Figure 4
Figure 4 Single Incremental Encoder Wiring (P3-01=0)