When Using An Incremental Encoder - YASKAWA SGD7S-R70A Product Manual

When using a rotary type coordinate (Pn637 ≠
ing the following calculations so that the following relationships are satisfied: Pn63A ≤ Pn63C ≤
Pn638.
• If the results is smaller than Pn63A (the starting point of the rotational coordinates), add the
width of the coordinates (Pn638 − Pn63A + 1).
• If the results is larger than Pn638 (the end point of the rotational coordinates), subtract the
width of the coordinates (Pn638 − Pn63A + 1).
Refer to the following manual for information on setting up an absolute encoder.
Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual
(Manual No.: SIEP S800001 26)
You must define the origin again if you change the settings of any of the following parameters:
Pn20E, Pn210, Pn205, Pn637, or Pn63C. Always turn the power supply OFF and ON again
before you set the origin to enable changes to these parameters.
Important
6.5.2

When Using an Incremental Encoder

If you use an incremental encoder, you must set the origin every time the power supply to the
equipment is turned ON.
Homing is used to define the machine origin. Refer to the following section for details on hom-
ing.
7.2 Homing on page 7-4
The setting of Pn63C is set as the current value when the power supply is turned ON or when
homing is completed.
Origin (Incremental Encoder)
Absolute Encoder Offset (Absolute Encoder)
Pn63C Setting Range
-1073741823 to
+1073741823
 If you are using an incremental encoder, always perform homing before you start program
table operation. If you perform program table operation without performing homing, posi-
tions cannot be managed so correct positioning may not be possible.
Unexpected machine operation, failure, or personal injury may occur.
n.
Setting Unit Default Setting
Reference unit 0
WARNING

6.5.2 When Using an Incremental Encoder

0), set the results in Pn63C after perform-
When Enabled
After restart
6.5 Origin Settings
Classification
Setup
6
6-13