Setting Up An Absolute Encoder; Battery; Setup Procedure - YASKAWA SGM Series User Manual

Application

5.3.2 Setup Procedure

5.3 Setting Up an Absolute Encoder

5.3.1 Battery

5.3.2 Setup Procedure
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Note
An absolute encoder requires a battery in order to save position data in the event of a power
interruptions.
D We recommend the following battery.
One lithium battery: ER6VC 3.6 V battery made by Toshiba Battery Co., Ltd.
D Make sure the battery is installed securely so that environmental changes or changes over
time will not cause a loss of contact.
D The battery voltage is not monitored inside the SERVOPACK (with 12 bit absolute encod-
er). Provide a battery voltage monitor circuit as necessary.
Minimum voltage: 3.3 V
D See 12.1.3 "Replacing the Battery" for more details on battery replacement.
The encoder needs to be set up to clear the cumulative rotation number to zero to set up the
motor, or when the absolute encoder has been left disconnected from a battery for more than
two days.
Internal circuit elements may not function properly if the capacitor in the encoder is not fully
charged. Use the setup procedure described below in the following cases.
Failure to follow the procedure exactly as written may result in problems.
1. Turning ON SERVOPACK Power
• Wire the SERVOPACK, motor, and encoder together correctly.
• Connect the battery and turn ON the SERVOPACK. Send the SENS_ON command by
MECHATROLINK communication (encoder power ON). Then leave the SERVO-
PACK turned ON for at least thirty minutes to sufficiently charge the backup capacitor.
2. Resetting Data
• Turn OFF the SERVOPACK, and disconnect the encoder connector.
• Short encoder terminals 13 and 14 together for 1 to 2 seconds.
3. Wiring
Restore the wiring to the normal status.
4. Turning ON Power
The setup is complete if there are no errors when the SERVOPACK is turned ON and the
SENS_ON command is sent. If alarm code "00" is transferred by MECHATROLINK com-
munication from the SERVOPACK, then repeat the procedure starting from the beginning.
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