YASKAWA SGD7S

6.13 Absolute Linear Encoders
6.13.1 Connecting an Absolute Linear Encoder
6-86
6.13 Absolute Linear Encoders
The absolute linear encoder records the current position of the stop position even when the power
supply is OFF.
With a system that uses an absolute linear encoder, the host controller can monitor the current
position. Therefore, it is not necessary to perform an origin return operation when the power supply to
the system is turned ON.
There are three types of linear encoders for Linear Servomotors. The usage of the linear encoder is
specified in Pn002 = n.

X

.
Refer to the following section for linear encoder models.
 Feedback Resolution of Linear Encoder
on page 5-50
•
Parameter Settings When Using an Incremental Linear Encoder
•
Parameter Settings When Using an Absolute Linear Encoder
6.13.1 Connecting an Absolute Linear Encoder
Refer to the following sections for information on the connections between an absolute linear encoder,
the SERVOPACK, and the host controller.
4.4.3
Wiring the SERVOPACK to the Encoder
on page 4-26
4.5.3
I/O Signal Wiring Examples
on page 4-37
6.13.2 Structure of the Position Data of the Absolute Linear
Encoder
The position data of the absolute linear encoder is the distance (number of pulses) from the origin of
the absolute linear encoder.
The position data is signed 36-bit data.
When the SERVOPACK sends the position data, it sends the upper 16-bit data (with sign) separately
from the lower 20-bit data.
Parameter Meaning When Enabled Classification
Pn002
n.

0

(default setting)
Use the encoder as an incremental linear encoder.
After restart Setup
n.

1

Use the encoder as an incremental linear encoder.
Parameter Meaning When Enabled Classification
Pn002
n.

0

(default setting)
Use the encoder as an absolute linear encoder.
After restart Setup
n.

1

Use the encoder as an incremental linear encoder.
35 20 19 0
±
Upper 16 bits (with sign) Lower 20 bits