YASKAWA Sigma-7 SGD7S Series - Page 215

The output position of the origin signal (Ref) will depend on the direction of movement for
some models of incremental linear encoders from Renishaw PLC.
In that case, the phase-C pulse of the SERVOPACK is output at two positions.
For detailed specifications on the origin signal, refer to the manual for the Renishaw PLC
incremental linear encoder.
n When passing the first Origin signal (Ref) in the forward direction and returning after
turning ON the power supply
Machine position (forward)
Origin detection
position
Origin detection
position
Power ON
Origin signal (Ref)
Phase C
The second pulse is half as
wide as the phase-A pulse.
Time
No origin signal (Ref) is output by the incremental linear
encoder. However, a phase-C pulse will be output from the
SERVOPACK when the motor moves in the reverse
direction, because this is the same position from which a
phase-C pulse was output when the motor moved in the
forward direction.
Fig. 155: Renishaw Incremental Linear Encoder - When passing the first Origin Signal
(Ref) in the forward direction
n When passing the first Origin signal (Ref) in the reverse direction and returning after
turning ON the power supply
Machine position (forward)
Origin detection
position
Origin detection
position
Power ON
Origin signal (Ref)
Phase C
Time
No origin signal (Ref) is output by the incremental linear
encoder. However, a phase-C pulse will be output from the
SERVOPACK when the motor moves in the forward
direction, because this is the same position from which a
phase-C pulse was output when the motor moved in the
reverse direction.
The second pulse is half as
wide as the phase-A pulse.
Fig. 156: Renishaw Incremental Linear Encoder - When passing the first Origin signal
(Ref) in the reverse direction
Precautions When Using a Linear Incremental Encoder from Magnescale Co., Ltd.
n Encoder Divided Phase-C Pulse Output Selection
You can also output the encoder’s phase-C pulse for reverse movement. To do so, set
Pn081 to n.1.
Parameter Meaning When Enabled Classification
Pn081
n.0
(default
setting)
Output phase-C pulses
only in the forward direc-
tion.
After restart Setup
n.1
Output phase-C pulses
in both the forward and
reverse directions.
Sigma-7 Series SERVOPACKs
Application Functions
Encoder Divided Pulse Output > Encoder Divided Pulse Output Signals
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