Setting The Origin Of The Absolute Encoder; Absolute Encoder Origin Offset; Setting The Origin Of The Absolute Linear Encoder - YASKAWA SGD7S-****20A Series Product Manual

5.17

Setting the Origin of the Absolute Encoder

5.17.1

Absolute Encoder Origin Offset

The origin offset of the absolute encoder is a correction that is used to set the origin of the
machine coordinate system in addition to the origin of the absolute encoder. Set the offset
between the absolute encoder origin and the machine coordinate system origin in Pn808

(Absolute Encoder Origin Offset).

After the SENS_ON (Absolute Data Request) command is received, the position in the machine
coordinate system (APOS) is set based on the absolute encoder position data and the setting
of Pn808.
Absolute Encoder Origin Offset
Setting Range
Pn808
-1,073,741,823 to
1,073,741,823
If the encoder position (X) is at the origin of the machine coordinate system (0), then Pn808
Example
would be set to -X.
5.17.2

Setting the Origin of the Absolute Linear Encoder

You can set any position as the origin in the following Linear Encoders.
• Mitutoyo Corporation
ABS ST780A Series or ST1300 Series
Models: ABS ST78A/ST78AL/ST13
• Renishaw PLC
EVOLUTE Series
Models: EL36Y-
• Renishaw PLC
RESOLUTE Series
Models: RL36Y-
1. After you set the origin, the /S-RDY (Servo Ready) signal will become inactive because the
system position data was changed. Always turn the SERVOPACK power supply OFF and ON
again.
Important
2. After you set the origin, the Servomotor phase data in the SERVOPACK will be discarded. If
you are using a Linear Servomotor without a Polarity Sensor, execute polarity detection again
to save the Servomotor phase data in the SERVOPACK.
Preparations
Always check the following before you set the origin of an absolute encoder.
• The parameters must not be write prohibited.
• The servo must be OFF.
Setting Unit
1 reference unit
Machine coordinate
Encoder coordinate
Ab olute encoder origin

5.17 Setting the Origin of the Absolute Encoder

5.17.1 Absolute Encoder Origin Offset
Default Setting When Enabled
0 Immediately
Origin of machine
coordinate y tem
Pn808
Encoder po ition (X)
Position
Classification
Setup
5-51
5