YASKAWA SGD7S-****20A Series Product Manual page 191

6.7 Selecting Torque Limits . . . . . . . . . . . . . . . 6-28
6.7.1 Internal Torque Limits . . . . . . . . . . . . . . . . . . . . .6-28
6.7.2 External Torque Limits . . . . . . . . . . . . . . . . . . . .6-29
6.7.3 /CLT (Torque Limit Detection) Signal . . . . . . . . .6-32
6.8 Absolute Encoders . . . . . . . . . . . . . . . . . . 6-33
6.8.1 Connecting an Absolute Encoder . . . . . . . . . . . .6-34
6.8.2 Structure of the Position Data of the Absolute
Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-34
6.8.3 Output Ports for the Position Data from the
Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . .6-35
6.8.4 Reading the Position Data from the Absolute
Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-36
6.8.5 Transmission Specifications . . . . . . . . . . . . . . . .6-37
6.8.6 Calculating the Current Position in Machine
Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-37
6.8.7 Alarm Output from Output Ports for the Position
Data from the Absolute Encoder . . . . . . . . . . . .6-38
6.8.8 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . .6-39
6.8.9 Multiturn Limit Disagreement Alarm (A.CC0) . . .6-40
6.9 Absolute Linear Encoders . . . . . . . . . . . . . 6-43
6.9.1 Connecting an Absolute Linear Encoder . . . . . .6-43
6.9.2 Structure of the Position Data of the Absolute
Linear Encoder . . . . . . . . . . . . . . . . . . . . . . . . . .6-43
6.9.3 Output Ports for the Position Data from
the Absolute Linear Encoder . . . . . . . . . . . . . . .6-44
6.9.4 Reading the Position Data from the Absolute
Linear Encoder . . . . . . . . . . . . . . . . . . . . . . . . . .6-44
6.9.5 Transmission Specifications . . . . . . . . . . . . . . . .6-45
6.9.6 Calculating the Current Position in Machine
Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-46
6.9.7 Alarm Output from the Output Ports for the Position
Data from the Absolute Linear Encoder . . . . . . . . . . . 6-47
6.10 Software Reset . . . . . . . . . . . . . . . . . . . . . 6-48
6.10.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . .6-48
6.10.2 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . .6-48
6.10.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . .6-49
6.11 Initializing the Vibration Detection Level . . 6-51
6.11.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . .6-51
6.11.2 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . .6-52
6.11.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . .6-52
6.11.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . .6-54
6.12 Adjusting the Motor Current Detection Signal Offset . . . . 6-55
6.12.1 Automatic Adjustment . . . . . . . . . . . . . . . . . . . .6-55
6.12.2 Manual Adjustment . . . . . . . . . . . . . . . . . . . . . .6-57