When Using An Incremental Encoder - YASKAWA E-7S SERVOPACK SGD7S Product Manual

When using the linear type coordinate (PnB20 = 0000h), set the calculated value in PnB25.
When using a rotary type coordinate (PnB20 ≠ 0000h), set the results in PnB25 after perform-
ing the following calculations so that the following relationships are satisfied: PnB23 ≤ PnB25 ≤
PnB21.
• If the results is smaller than PnB23 (the starting point of the rotational coordinates), add the
width of the coordinates (PnB21 − PnB23 + 1).
• If the results is larger than PnB21 (the end point of the rotational coordinates), subtract the
width of the coordinates (PnB21 − PnB23 + 1).
Refer to the following section for information on setting up an absolute encoder.
5.15 Resetting the Absolute Encoder on page 5-47
You must define the origin again if you change the settings of any of the following parameters:
Pn20E, Pn210, Pn205, PnB20, or PnB25. Always turn the power supply OFF and ON again
before you set the origin to enable changes to these parameters.
Important
12.3.2

When Using an Incremental Encoder

If you use an incremental encoder, you must set the origin every time the power supply to the
equipment is turned ON.
Homing is used to define the machine origin. Refer to the following section for details on hom-
ing.
13.2 Homing on page 13-4
The setting of PnB25 is set as the current value when the power supply is turned ON or when
homing is completed.
• When using an incremental encoder: Origin
• When using an absolute encoder: Absolute Encoder Offset
PnB25 Setting Range
-99,999,999 to
99,999,999*
*
If you set PnB54 to 1 (Enable Expansion Mode), the range will be -1,073,741,823 to +1,073,741,823. Refer to the
following section for details.
12.4 Speed/Position Expansion Function Setting on page 12-8
 If you are using an incremental encoder, always perform homing before you start program
table operation. If you perform program table operation without performing homing, posi-
tions cannot be managed so correct positioning may not be possible.
Unexpected machine operation, failure, or personal injury may occur.
Setting Unit Default Setting
1 reference unit 0
WARNING
12.3 Origin Settings

12.3.2 When Using an Incremental Encoder

When Enabled Classification
After restart Setup
12
12-7