Setting For The Encoder Divided Pulse Output - YASKAWA SGD7S Product Manual

6.5 Encoder Divided Pulse Output

6.5.2 Setting for the Encoder Divided Pulse Output

6.5.2 Setting for the Encoder Divided Pulse Output
This section describes the setting for the encoder divided pulse output for a Rotary Servomotor
or Linear Servomotor.
Encoder Divided Pulse Output When Using a Rotary
Servomotor
If you will use a Rotary Servomotor, set the number of encoder output pulses (Pn212).
Pn212
The number of pulses from the encoder per rotation are processed inside the SERVOPACK,
divided by the setting of Pn212, and then output.
Set the number of encoder divided output pulses according to the system specifications of the
machine or host controller.
The setting of the number of encoder output pulses is limited by the resolution of the encoder.
Setting of the Number
of Encoder Output
Pulses [P/Rev]
16 to 16,384
16,386 to 32,768
32,772 to 65,536
65,544 to 131,072
131,088 to 262,144
262,176 to 524,288
524,352 to 1,048,576
1,048,704 to 2,097,152
2,097,408 to 4,194,304
Note: 1. The setting range of the number of encoder output pulses (Pn212) depends on the resolution of the Servo-
2. The upper limit of the pulse frequency is approximately 1.6 Mpps. The Servomotor speed will be limited if
Output example: An output example is given below for the PAO (Encoder Pulse Output Phase
A) signal and the PBO (Encoder Pulse Output Phase B) signal when Pn212 is set to 16 (16
pulses output per revolution).
PAO signal
PBO signal
6-24
Number of Encoder Output Pulses
Setting Range
16 to 1,073,741,824
Setting
Increment
1
2
4
8
16
32
64
128
256
motor encoder. An A.041 alarm (Encoder Output Pulse Setting Error) will occur if the above setting condi-
tions are not met.
Correct setting example: Pn212 can be set to 25,000 [P/Rev].
Incorrect setting example: Pn212 cannot be set to 25,001 (P/Rev) because the setting increment in the
above table is not used.
the setting of the number of encoder output pulses is too high.
An A.511 alarm (Encoder Output Pulse Overspeed) will occur if the upper limit of the motor speed is
exceeded.
1 2 3 4 5
Setting Unit Default Setting
1 P/Rev 2,048
Encoder Resolution
20 bits 22 bits
(1,048,576 (4,194,304
pulses) pulses)
 
 
 
 
 

–

–
– –
– –
Setting: 16
6 7 8 9 10 11
1 revolution
Speed Position
When Enabled
After restart
Upper Limit of Servo-
motor Speed for Set
24 bits
Number of Encoder
(16,777,216
Output Pulses [min
pulses)









12 13 14 15 16
Torque
Classification
Setup
-1
]
6,000
3,000
1,500
750
375
187
93
46
23