YASKAWA SGD7S series User Manual

6.8 Encoder Divided Pulse Output
6.8.2 Setting for the Encoder Divided Pulse Output
6
Application Functions
6-53
Encoder Divided Pulse Output When Using a Linear
Servomotor
If you will use a Linear Servomotor, set the encoder output resolution (Pn281).
Note: The maximum setting for the encoder output resolution is 4,096. Pulse output at a linear encoder resolution
of 4,096 or higher is not possible.
Set the encoder output resolution for the encoder pulse output signals (PAO, /PAO, PBO, and
/PBO) from the SERVOPACK to the host controller.
The number of feedback pulses per linear encoder pitch is divided by the setting of Pn281
(after multiplication by 4) inside the SERVOPACK and then the resulting number of pulses is
output. Set the parameter according to the system specifications of the machine or host con-
troller.
The setting range depends on the Servomotor’s maximum speed (Pn385) and the Linear
Encoder Scale Pitch (Pn282).
*
You can calculate the upper limit of the setting of Pn281 with the
following formula.
* The value depends on whether a Serial Converter Unit is used.
Pn281
Encoder Output Resolution
Setting Range Setting Unit Default Setting When Enabled Classification
1 to 4,096 1 edge/pitch 20 After restart Setup
Using a Serial Converter Unit Setting of Pn282
Not Using a Serial Converter Unit (when the lin-
ear encoder and SERVOPACK are connected
directly or when a linear encoder that does not
require a Serial Converter Unit is used)
The linear encoder pitch is automatically detected by the SERVO-
PACK, so the setting of Pn282 is ignored. You can use the monitor
functions of the SigmaWin+ to check the linear encoder pitch that
was automatically detected.
When the linear encoder pitch is 4 μm, the maximum motor speed is limited to 1 mm/s
because of the maximum response frequency of the Serial Converter Unit.
If the setting is out of range or does not satisfy the setting conditions, an A.041 alarm
(Encoder Output Pulse Setting Error) will be output. If the motor speed exceeds the upper
limit for the set encoder output resolution, an A.511 alarm (Encoder Output Pulse Overspeed)
will be output.
The upper limit of the encoder output resolution is restricted by the dividing specifications of
the Serial Converter Unit.
Setting Example
Correct setting for a linear encoder pitch of 20 μm and a maximum motor speed of 5 m/s
(Pn385 = 50): Pn281 = 28 (edges/pitch)
Incorrect setting: Pn281 = 29 (edges/pitch) (An A.041 alarm would be output.)
Pulse Output Example
When Pn281 = 20 (20-edge output (5-pulse output) per linear encoder pitch)
Speed
Position
Force
72
Upper limit of Pn281 =
Linear Encoder Pitch*/100
Pn385
Information
Example
Example
Phase A
Phase B
Linear encoder pitch

YASKAWA SGD7S series Specifications

General

Series	SGD7S
Safety	STO (Safe Torque Off)
Humidity	90% RH or less (non-condensing)
Control Method	PWM Control
Communication	EtherCAT, MECHATROLINK-III, MECHATROLINK-II
Output Power	0.1 kW to 15 kW
Feedback System	Incremental encoder, Absolute encoder
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overload, Overheating, Encoder Error
Ambient Temperature	0 to 55°C
Storage Temperature	-20 to 85°C
Vibration Resistance	5.9 m/s²
Installation	Panel mounted
Certifications	CE, UL, cUL