8 Fully-closed Loop Control8.1.6 Precautions When Using an External Incremental Encoder by Magnescale8-88.1.6 Precautions When Using an External Incremental Encoder by MagnescaleWhen an external incremental encoder by Magnescale Co., Ltd. is used, the count direction of the encoderdetermines if an encoder dividing phase-C pulse (CN1-21, CN1-22) is output and counted.Note: The count direction (counting up or down) of the encoder determines if a phase-C pulse is output. The output of thepulse does not depend on the settings of these parameters: Pn000.0 (motor rotational direction) and Pn002.3 (exter-nal encoder usage method). Passing First Zero Point in Forward Direction and Returning after Power ONWhen the zero point detection position is first passed in the forward direction after turning the power supplyOFF and ON again, the encoder dividing phase-C pulse (CN1-21, CN1-22) is output. Then the encoder divid-ing phase-C pulse is output when the zero point detection position is passed in either the forward or reversedirection.Model Interpolator Scale pitch (μm)SL710PL101-RY800SL720 800SL730 800SR75 80SR85 80Scale count-updirectionZero pointdetection positionPower ON TimePhase-C pulseoutputThe phase-C pulse is also output when the detection head of the encoder passesthis point in reverse, because the SERVOPACK has recorded the positionwhere the phase-C pulse was originally output when first passing the position in the forward direction.
