Absolute Encoders - YASKAWA SGDH User Manual

8.4 Absolute Encoders

• The output range of multiturn data for the Σ-II series absolute detection system differs from that for conven-
tional systems (15-bit encoder and 12-bit encoder). When an infinite length positioning system of the con-
ventional type is to be configured with the Σ-II series, be sure to make the following system modification.
If a motor with an absolute encoder is used, a system to detect the absolute position can be made in the host con-
troller. Consequently, operation can be performed without zero point return operation immediately after the
power is turned ON.
SGM H-
SGM H-
Absolute encoder
Absolute Encoder
Type
Σ Series
SGD
SGDA
SGDB
Σ-ΙΙ Series
SGDM
SGDH
SGDP
* The action differs when the Multiturn Limit Setting (Pn205) is changed. Refer to 8.4.7 Multiturn Limit
Setting.
1 servomotor: With 16-bit absolute encoder
2 servomotor: With 17-bit absolute encoder
Absolute position
detected continuously
Resolution Output Range
of Multiturn
Data
12-bit -99999 to
15-bit + 99999
16-bit -32768 to
17-bit + 32767
WARNING
zero point return operation
Action when Limit Is Exceeded
• When the upper limit (+99999) is exceeded in the forward direc-
tion, the multiturn data is 0.
• When the lower limit (-99999) is exceeded in the reverse direc-
tion, the multiturn data is 0.
• When the upper limit (+32767) is exceeded in the forward direc-
tion, the multiturn data is -32768.*
• When the lower limit (-32767) is exceeded in the reverse direc-
tion, the multiturn data is +32768.*
8-27
8.4 Absolute Encoders
8