Absolute Encoder Setup - YASKAWA SGDV User Manual

5.9.4 Absolute Encoder Setup

• The rotational data will be a value between -2 and +2 rotations when the absolute encoder setup is exe-
cuted. The reference position of the machine system will change. Set the reference position of the host
controller to the position after setup.
If the machine is started without adjusting the position of the host controller, unexpected operation may
cause injury or damage to the machine. Take sufficient care when operating the machine.
Setting up the absolute encoder is necessary in the following cases.
• When starting the machine for the first time
• When an encoder backup error alarm (A.810) is generated
• When an encoder checksum error alarm (A.820) is generated
• When initializing the rotational serial data of the absolute encoder
Set up the absolute encoder with Fn008.
(1) Precautions on Setup
• If the following absolute encoder alarms are displayed, cancel the alarm by using the same method as the
absolute encoder setup. They cannot be canceled with the SERVOPACK alarm reset input signal (/ALM-
RST).
• Encoder backup error alarm (A.810)
• Encoder checksum error alarm (A.820)
• Any other alarms (A.8
power.
(2) Preparation
The following conditions must be met to setup the absolute encoder.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The servomotor power must be OFF.
(3) Operating Procedure
Use the following procedure.
Step
B B
F n 0 0 6 : A l m H i s t C l r
1
F n 0 0 8 : M t u r n C l r
F n 0 0 9 : R e f A d j
F n 0 0 A : V e l A d j
B B
2
M u l t i t u r n C l e a r
B B
3
M u l t i t u r n C l e a r
B B
4
M u l t i t u r n C l e a r
B B
F n 0 0 6 : A l m H i s t C l r
5
F n 0 0 8 : M t u r n C l r
F n 0 0 9 : R e f A d j
F n 0 0 A : V e l A d j
6 To enable the change in the setting, restart the SERVOPACK.
) that monitor the inside of the encoder should be canceled by turning OFF the
Panel Display
- F U N C T I O N -
P G C L 1
P G C L 5
P G C L 5
- F U N C T I O N -
CAUTION
Keys
Press the Key to select the utility function mode
(Fn ). And press the
the Fn008.
Press the Key to view the execution display of
Fn008.
Keep pressing the
changed to "PGCL5."
Press the Key to setup the absolute encoder.
After completing the setup, "DONE" is flashed for
approximately one second and "BB" is displayed.
Press the Key to return to the display of the pro-
cedure 1.
5.9 Absolute Encoders
Description
or Key to select
Key until "PGCL1" is
5
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