YASKAWA SVC - Page 368

5.2 Absolute Encoders
5.2.6 Position Management Method for Each Machine Operation Type
5-27
5
Machine-Specic Motion Control
 SERVOPACK Parameter Settings
The SERVOPACK parameters that must be set for an absolute encoder system are listed in the
following table.
Note: These are parameters for Σ-7-Series SERVOPACKs. Refer to the manual for your SERVOPACK for details on param-
eters for SERVOPACKs in other series.
 Precautions for Parameter Settings
The names of some of the motion parameters and SERVOPACK parameters are different even
though they have the same meaning. Set the values of these motion parameters and SERVO-
PACK parameters so that they are consistent with each other. The following tables list informa-
tion on the settings.

Encoder Selection
Set the parameters as listed in the following table for an axis that performs absolute position
detection.

Number of Pulses Per Motor Rotation
Refer to the following table and set fixed parameter No. 36 (Number of Pulses Per Motor Rota-
tion) according to the number of encoder bits (resolution).
The setting of the Pn212 (Number of Encoder Pulses) SERVOPACK parameter is not used for
control with the MP3000. It is not necessary to change the setting of Pn212.
Parameter Name Description Reference
Pn000 n.

X
Rotation/
Movement
Direction
Selection
0: Use CCW as the forward direction. (Rotary
Servomotor)
Use the direction in which the linear encoder
counts up as the forward direction. (Linear Ser-
vomotor)
1: Use CW as the forward direction. (Rotary Ser-
vomotor)
Use the direction in which the linear encoder
counts down as the forward direction. (Linear
Servomotor)
−
Pn205 –
Multiturn
Limit
0 to 65,535
 Maximum Number of
Absolute Encoder Rota-
tions on page 5-28
Pn002 n.X
Encoder
Usage
0: Use the encoder according to encoder specifi-
cations.
2: Use the encoder as a single-turn absolute
encoder.
 Encoder Selection on
page 5-27
Type Parameter Setting
Motion Parameter
Fixed Parameter No. 30
(Encoder Selection)
1: Absolute encoder
SERVOPACK
Parameter
Pn002 = n.X
(Encoder Usage)
0: Use the encoder according to encoder specifications.
2: Use the encoder as a single-turn absolute encoder.
Encoder Resolution
(Number of Bits)
Fixed Parameter No. 36 (Num-
ber of Pulses Per Motor Rota-
tion)
12 4096
13 8192
15 32768
16 65536
17 131072
20 1048576
22 4194304
24 16777216