YASKAWA SVC - Page 378

5.2 Absolute Encoders
5.2.6 Position Management Method for Each Machine Operation Type
5-37
5
Machine-Specic Motion Control
 Fixed Parameter Settings Required for Infinite Axis Position Management
To perform non-simple absolute infinite axis position management using the axis as an infinite-
length axis, set fixed parameter No. 1 bit 0 (Axis Selection) to 1: Infinite-length axis and fixed
parameter No. 1 bit 9 (Simple Absolute Infinite Axis Position Management) to 0 (Disabled).

Fixed Parameter Settings Required for an Absolute Encoder System
The following table lists the fixed parameters that must be set to perform infinite-length opera-
tion using non-simple absolute infinite axis position management.
*1. Electronic gear settings are invalid when the pulse is selected as the reference unit.
*2. N is the number of encoder bits.
 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.
No. Bit Name Setting (Meaning) Reference
1
0 Axis Selection 1: Infinite-length axis
 Function Selection Flags 1
on page 3-28
9
Simple Absolute Infinite Axis Posi-
tion Management
0: Disabled
No. Name Setting
Setting
Unit
Reference
4 Reference Unit Selection
0: pulse
*1
1: mm
2: deg
3: inch
4: μm
–
 Reference Unit Selection
on page 3-31
30 Encoder Selection 1: Absolute encoder –
 Encoder Selection on
page 3-33
6
Travel Distance per Machine
Rotation
1 to 2
31
− 1
Refer-
ence
units
–
8 Servomotor Gear Ratio Term 1 to 65,535
Rota-
tions
–
9 Machine Gear Ratio Term 1 to 65,535
Rota-
tions
–
10
Infinite-length Axis Reset Position
(POSMAX)
1 to 2
31
− 1
Refer-
ence
units
–
36
Number of Pulses Per Motor
Rotation
2
N *2
pulse
 Number of Pulses Per
Motor Rotation on page 5-39
38
Maximum Number of Absolute
Encoder Rotations
0 to 2
31
− 1
Rota-
tions
 Maximum Number of
Absolute Encoder Rotations
on page 3-35
Parameter Name Description Reference
Pn000 n.

X
Rotation/
Movement
Direction
Selection
0: Use CCW as the forward direction. (Rotary Ser-
vomotor)
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