Setting Encoder Output Pulse - YASKAWA SGMJV User Manual

4 Operation

4.4.5 Setting Encoder Output Pulse

4.4.5

Setting Encoder Output Pulse

Set the encoder output pulse using the following parameter.
Pn212
Pulses from the encoder per revolution are divided inside the SERVOPACK by the number set in this parame-
ter before being output. Set the number of encoder output pulses according to the system specifications of the
machine or host controller.
According to the encoder resolution, the number of encoder output pulses are limited.
Setting Range of
Encoder Output Pulses
16 to 2048
16 to 16384
16386 to 32768
32772 to 65536
65544 to 131072
131088 to 262144
Note 1. The setting range varies with the encoder resolution for the servomotor used.
2. The upper limit of the pulse frequency is approx. 1.6 Mpps.
Output Example: When Pn212 = 16 (16-pulse output per one revolution), PAO and PBO are output as shown
PAO
PBO
4-28
Encoder Output Pulses
Setting Range
16 to 1073741824
Setting
Unit
(P/Rev)
1
1
2
4
8
16
An encoder output pulse setting error (A.041) will occur if the setting is outside the allowable range or does not
satisfy the setting conditions.
Pn212 = 25000 (P/Rev) is accepted, but
Pn212 = 25001 (P/Rev) is not accepted. The alarm A.041 is output because the setting unit differs from that in the
above table.
The servomotor speed is limited if the setting value of the encoder output pulses (Pn212) is large.
An overspeed of encoder output pulse rate alarm (A.511) will occur if the motor speed exceeds the upper limit
specified in the above table.
below.
1 2 3 4
Setting Unit Factory Setting
1 P/rev 2048
Encoder Resolution
13 bits 17 bits
(8,192 (131,072
pulses) pulses)
–

–

–

– –
– –
– –
Preset value: 16
5 6 7 8 9 10
One revolution
Speed Position Torque
When Enabled
After restart
Upper Limit of Servomotor Speed
for Set Encoder Output Pulses
20 bits
(min
(1,048,576
pulses)
–





11 12 13 14 15
Classification
Setup
-1
)
6000
6000
3000
1500
750
375
16