Yaskawa Σ-V Series AC Servo Drives Rotational Motor MECHATROLINK-III - Manual (Page 97)

4 Operation
4.7.4 Absolute Encoder Setup
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4.7.4 Absolute Encoder Setup
Setting up the absolute encoder is necessary in the following cases.
• When starting the machine for the first time
• When an encoder backup error alarm (A.810) is generated
• When an encoder checksum error alarm (A.820) is generated
• When initializing the rotational serial data of the absolute encoder
(1) Precautions on Setup
• If the following absolute encoder alarms are displayed, cancel the alarm by using the same method as the
absolute encoder setup. They cannot be canceled with the SERVOPACK Clear Warning or Alarm command
(ALM_CLR).
• Encoder backup error alarm (A.810)
• Encoder checksum error alarm (A.820)
• Any other alarms (A.8 ) that monitor the inside of the encoder should be canceled by turning OFF the
power.
(2) Preparation
The following conditions must be met to setup the absolute encoder.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The servomotor power must be OFF.
(3) Operating Procedure
Use the following procedure.
This setting can be performed using the write memory command (MEM_WR). For details, refer to
Σ -V Series
User’s Manual MECHATROLINK-III Standard Servo Profile Commands (Manual No.: SIEP S800000 63).
1. Make sure that the motor power is OFF.
2. In the SigmaWin+ main window, click Setup – Set Absolute Encoder – Reset Absolute
Encoder .
A warning message will appear confirming if you want to continue the processing.
Click Cancel to return to the main window without resetting the absolute encoder.
CAUTION
• The rotational data will be a value between -2 and +2 rotations when the absolute encoder setup is exe-
cuted. The reference position of the machine system will change. Set the reference position of the host
controller to the position after setup.
If the machine is started without adjusting the position of the host controller, unexpected operation may
cause injury or damage to the machine. Take sufficient care when operating the machine.
MEC
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