YASKAWA Sigma-II Series, User Manual

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8.4 Absolute Encoders
8-29
8
Operation
8.4 Absolute Encoders
If a motor with an absolute encoder is used, a system to detect the absolute position can be made in the host con-
troller. Consequently, operation can be performed without zero point return operation immediately after the
power is turned ON.
SGM † H- ††† 1 † servomotor: With 16-bit absolute encoder
SGM
†
H-
†††
2
†
servomotor: With 17-bit absolute encoder
* The action differs when the Multiturn Limit Setting (Pn205) is changed. Refer to 8.4.7 Multiturn Limit
Setting .
• The output range of multiturn data for the
Σ
- II series absolute detection system differs from that for conven-
tional systems (15-bit encoder and 12-bit encoder). When an infinite length positioning system of the con-
ventional type is to be configured with the
Σ
- II series, be sure to make the following system modification.
WARNING
Absolute position
detected continuously
zero point return operation
Absolute encoder
Absolute Encoder
Type
Resolution Output Range
of Multiturn
Data
Action when Limit Is Exceeded
Σ - Ι Series
SGD
SGDA
SGDB
12-bit
15-bit -99999 to
+ 99999 • When the upper limit (+99999) is exceeded in the forward direc-
tion, the multiturn data is 0.
• When the lower limit (-99999) is exceeded in the reverse direc-
tion, the multiturn data is 0.
Σ - ΙΙ Series
SGDM
SGDH
SGDP
16-bit
17-bit -32768 to
+ 32767 • When the upper limit (+32767) is exceeded in the forward direc-
tion, the multiturn data is -32768.*
• When the lower limit (-32768) is exceeded in the reverse direc-
tion, the multiturn data is +32767.*