Absolute Encoders; Connecting An Absolute Encoder - YASKAWA SGD7S-1R9D Product Manual

6.8

Absolute Encoders

The absolute encoder records the current position of the stop position even when the power supply is
OFF.
With a system that uses an absolute encoder, the host controller can monitor the current position.
Therefore, it is not necessary to perform an origin return operation when the power supply to the sys-
tem is turned ON.
There are two types of encoders for Rotary Servomotors. The usage of the encoder is specified in

Pn002 = n. X
Refer to the following section for encoder models.

Encoder Resolution
•
Parameter Settings When Using an Incremental Encoder
Parameter
 
n. 0
(default setting)
Pn002

(2002 n. 1
hex)

n. 2
•
Parameter Settings When Using a Multiturn Absolute Encoder
Parameter
 
n. 0
(default setting)
Pn002

(2002 n. 1
hex)

n. 2

Install a battery at either the host controller or on the Encoder Cable.
If you install batteries both at the host controller and on the Encoder Cable at the same time, you
will create a loop circuit between the batteries, resulting in a risk of damage or burning.
6.8.1

Connecting an Absolute Encoder

You can get the position data from the absolute encoder with EtherCAT communications. Therefore, it
is not necessary to wire the PAO, PBO, and PCO (Encoder Divided Pulse Output) signals.
If they need to be wired, refer to the following section.
4.4.3
Wiring the SERVOPACK to the Encoder
4.5.3
I/O Signal Wiring Examples

.
on page 5-43
Use the encoder as an incremental encoder.
A battery is not required.
Use the encoder as an incremental encoder.

A battery is not required.
Use the encoder as a single-turn absolute encoder.

A battery is not required.
Use the encoder as a multiturn absolute encoder.
A battery is required.
Use the encoder as an incremental encoder.

A battery is not required.
Use the encoder as a single-turn absolute encoder.

A battery is not required.
on page 4-20
on page 4-31

6.8.1 Connecting an Absolute Encoder

Meaning
Meaning
NOTICE

6.8 Absolute Encoders

When Enabled Classification
After restart Setup
When Enabled Classification
After restart Setup
6
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