YASKAWA Sigma-7 SGD7S Series

Setting of the
Number of
Encoder
Output Pulses
[P/Rev]
Setting
Increment
Encoder Resolution Upper Limit of
Servomotor
Speed for Set
Number of
Encoder
Output Pulses
[min
-1
]
20 bits
(1,048,576
pulses)
22 bits
(4,194,304
pulses)
24 bits
(16,777,21
6 pulses)
16 to 16,384 1
  
6,000
16,386 to
32,768
2
  
3,000
32,772 to
65,536
4
  
1,500
65,544 to
131,072
8
  
750
131,088 to
262,144
16
  
375
262,176 to
524,288
32 –
 
187
524,352 to
1,048,576
64 –
 
93
1,048,704 to
2,097,152
128 – –

46
2,097,408 to
4,194,304
256 – –

23
– The setting range of the number of encoder output pulses (Pn212)
depends on the resolution of the Servomotor encoder. An A.041
alarm (Encoder Output Pulse Setting Error) will occur if the above
setting conditions are not met.
Correct setting example: Pn212 can be set to 25,000 [P/Rev].
Incorrect setting example: Pn212 cannot be set to 25,001 (P/Rev)
because the setting increment in the above table is not used.
– The upper limit of the pulse frequency is approximately 1.6 Mpps (Mil-
lion Pulses per Second). The Servomotor speed will be limited if the
setting of the number of encoder output pulses is too high.
An A.511 alarm (Encoder Output Pulse Overspeed) will occur if the
upper limit of the motor speed is exceeded.
An output example is given below for the PAO (Encoder Pulse Output Phase A) signal
and the PBO (Encoder Pulse Output Phase B) signal when Pn212 is set to 16 (16
pulses output per revolution).
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Setting: 16
1 revolution
PAO signal
PBO signal
Fig. 162: Encoder Divided Pulse Output Example
Output example
Sigma-7 Series SERVOPACKs
Application Functions
Encoder Divided Pulse Output > Setting for the Encoder Divided Pulse Output
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