Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Command Option Interface - Manual (Page 130)

4 Operation
4-34
4.5 Absolute Encoders
If using an absolute encoder, a system to detect the absolute position can be designed for use with the host
controller. As a result, an operation can be performed without a zero point return operation immediately after
the power is turned ON.
A battery case is required to save position data in the absolute encoder.
The battery is attached to the battery case of the encoder cable.
If an encoder cable with a battery case is not used, install a battery to the host controller.
Set Pn002.2 to 0 (factory setting) to use the absolute encoder.
A battery is not required when using the absolute encoder as an incremental encoder.
PROHIBITED
• Do not install batteries in both the host controller and battery case. It is dangerous because that sets up a
loop circuit between the batteries.
Parameter Meaning
When
Enabled
Classification
Pn002
n. 0
[Factory setting] Uses the absolute encoder as an absolute encoder.
After restart Setup
n. 1 Uses the absolute encoder as an incremental encoder.
The output range of the rotational serial data for the absolute position detecting system
used for
Σ-V large-capacity servo drives is different from that of SGDB Σ servo drives. As
a result, the infinite-length positioning system of the Σ servo drives must be changed for
use with Σ-V large-capacity servo drives. Be sure to make the following system modifica-
tions.
∗ The action differs when the multiturn limit setting (Pn205) is changed. Refer to 4.5.6 Multiturn
Limit Setting.
SERVOPACK
Absolute
Encoder
Resolution
Output Range
of Rotational
Serial Data
Action when Limit Is Exceeded
Σ Series
SGDB
12-bit
15-bit -99999 to
+ 99999
• When the upper limit (+99999) is exceeded
in the forward direction, the rotational
serial data will be 0.
• When the lower limit (-99999) is exceeded
in the reverse direction, the rotational serial
data will be 0.
Σ-II,
Σ-V (large-capacity)
Series
SGDM
SGDH
SGDV
17-bit
20-bit -32768 to
+ 32767
• When the upper limit (+32767) is exceeded
in the forward direction, the rotational
serial data will be -32768.
*
• When the lower limit (-32768) is exceeded
in the reverse direction, the rotational serial
data will be +32767.
*