Setting For The Encoder Divided Pulse Output - YASKAWA SGD7S-1R9D Product Manual

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).
Number of Encoder Output Pulses
Pn212
(2212 Setting Range
hex)
16 to 1,073,741,824
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-
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.
2. The upper limit of the pulse frequency is approximately 1.6 Mpps. The Servomotor speed will be limited if
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.
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).
1
PAO signal
PBO signal
Setting Unit
1 P/Rev
Encoder
Resolution
Setting
24 bits
Increment
(16,777,216
pulses)
1
2
4
8
16
32
64
128
256
2 3 4 5 6 7
6.5.2 Setting for the Encoder Divided Pulse Output
Default Setting
2,048
Upper Limit of Servomotor Speed for Set Number of
Encoder Output Pulses [min









Setting: 16
8 9 10 11 12 13
1 revolution
6.5 Encoder Divided Pulse Output
Speed Position Torque
When Enabled Classification
After restart Setup
-1
]
6,000
3,000
1,500
750
375
187
93
46
23
14 15 16
6
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