Yaskawa AC Drive - A1000 Motion Control Custom - Manual (Page 24)

5 Function Description
24 YASKAWA TM.A1000SW.117 Motion Control Custom Software Supplement
Absolute (Gray Code) Encoder
An absolute (gray code) encoder can be machine-mounted or motor-mounted. This style of encoder can be used only if
the motion type is Linear Absolute. If the absolute encoder is machine mounted, the ratio between the motor and the
encoder must be entered into parameters P3-03 and P3-04, and the encoder COUNTS per revolution must be entered into
P3-02. Note that parameter F1-31 is ignored in the Motion Control software. A DI-A3 digital input option card is required
and an external power supply for the encoder. Encoder outputs must be 24 Vdc and be capable of sinking current when a
logic low is present on the output.
This software was tested with a Danaher/Dynapar brand 12 bit by 12 bit gray code encoder, part number: ai2512122b121.
Figure 6
Figure 6 Gray Code Absolute Encoder Wiring (P3-01=2)