Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III Communication Reference - Manual (Page 148)

4 Operation
4.7.8 Absolute Encoder Origin Offset
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4.7.8
Absolute Encoder Origin Offset
If using the absolute encoder, the positions of the encoder and the offset of the machine coordinate system
(APOS) can be set. Use Pn808 to make the setting. After the SENS_ON command is received by MECHA-
TROLINK communications, this parameter will be enabled.
If the encoder position (X) is set at the origin of the machine coordinate system (0), Pn808 = X.
Pn808
Absolute Encoder Origin Offset
Classification
Setting Range Setting Unit Factory Setting When Enabled
-1073741823 to
1073741823
1 reference unit 0 Immediately Setup
Position
Encoder position: Origin
Origin
Machine coordinate
system position
(APOS)
Encoder position
Encoder position Pn808
MECHA