Resetting The Absolute Encoder; Precautions On Resetting; Applicable Tools - YASKAWA SGD7S-1R9D Product Manual

5.15

Resetting the Absolute Encoder

In a system that uses an absolute encoder, the multiturn data must be reset at startup. An
alarm related to the absolute encoder (A.810 or A.820) will occur when the absolute encoder
must be reset, such as when the power supply is turned ON.
When you reset the absolute encoder, the multiturn data is reset and any alarms related to the
absolute encoder are cleared.
Reset the absolute encoder in the following cases.
• When starting the system for the first time
• When an A.810 alarm (Encoder Backup Alarm) occurs
• When an A.820 alarm (Encoder Checksum Alarm) occurs
• When you want to reset the multiturn data in the absolute encoder
 The multiturn data will be reset to a value between -2 and +2 rotations when the absolute
encoder is reset. The reference position of the machine system will change. Adjust the refer-
ence position in the host controller to the position that results from resetting the absolute
encoder.
If the machine is started without adjusting the position in the host controller, unexpected
operation may cause personal injury or damage to the machine.
When the encoder is set to be used as a single-turn absolute encoder (Pn002 = n.2),
Information
the multiturn data will always be zero. It is not necessary to reset the absolute encoder. Also,
an alarm related to the absolute encoder (A.810 or A.820) will not occur.
5.15.1

Precautions on Resetting

• The parameters must not be write prohibited.
• The servo must be OFF to reset the absolute encoder.
• You cannot use the Alarm/Warning Clear (Fault Reset) command from the SERVOPACK to
clear the A.810 alarm (Encoder Backup Alarm) or the A.820 alarm (Encoder Checksum
Alarm). Always use the operation to reset the absolute encoder to clear these alarms.
• If an A.8 alarm (Internal Encoder Monitoring Alarm) occurs, turn OFF the power supply to
reset the alarm.
5.15.2

Applicable Tools

The following table lists the tools that you can use to reset the absolute encoder and the appli-
cable tool functions.
Tool
Digital Operator
SigmaWin+
EtherCAT (CoE)
communications
CAUTION
Function
Fn008
Setup - Absolute Encoder Reset
SERVOPACK Adjusting Command
(2710 hex)

5.15 Resetting the Absolute Encoder

5.15.1 Precautions on Resetting

Reference
Σ-7-Series Digital Operator Operating
Manual (Manual No.: SIEP S800001
33)
5.15.3 Operating Procedure on page
5-50
SERVOPACK Adjusting Command
(2710 Hex) on page 14-19
5
5-49