5.9 Absolute Encoders
5-65
5.9 Absolute Encoders
If a motor with an absolute encoder is used, a system to detect the absolute position can be made in the host
controller. Consequently, operation can be performed without zero point return operation immediately after
the power is turned ON.
5.9.1 Encoder Resolutions
The following table shows the encoder resolutions for each servomotor model.
Absolute encoder can be used as an incremental encoder by setting with Pn002.
The SEN signal and back-up battery are not required when using the absolute encoder as an incremental
encoder.
The output range of rotational data for the Σ-V series absolute detection system differs
from that for conventional systems (Σ-series SGD/SGDA/SGDB). When an infinite
length positioning system of the conventional type is to be configured with the Σ-V
series, be sure to make the following system modification.
∗ The action differs when the Multiturn Limit Setting (Pn205) is changed.
Absolute Encoder
Type
Resolution
Output Range
of Rotational
Data
Action when Limit Is Exceeded
Σ Series
SGD
SGDA
SGDB
12-bit
15-bit
-99999 to
+ 99999
• When the upper limit (+99999) is exceeded
in the forward direction, the rotational data
is 0.
• When the lower limit (-99999) is exceeded
in the reverse direction, the rotational data
is 0.
Σ-II, Σ-III, Σ-V
Series
SGDM
SGDH
SGDS
SGDV
17-bit
20-bit
-32768 to
+ 32767
• When the upper limit (+32767) is exceeded
in the forward direction, the rotational data
is -32768.*
• When the lower limit (-32767) is exceeded
in the reverse direction, the rotational data
is +32768.*
Servomotor Model Encoder Resolution
SGMPS 17-bit
SGMAV / SGMJV / SGMGV / SGMSV / SGMCS 20-bit
Parameter Meaning When Enabled Classification
Pn002
n.0
Use the absolute encoder as an absolute encoder.
[Factory setting]
After restart Setup
n.1 Use the absolute encoder as an incremental encoder.
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