คอนแทคเตอร์,เบรกเกอร์,เซ็นเซอร์,ตัวเข้ารหัส,บมจ,ตัวแปลง
UTTSH: Yaskawa Sigma7 series ตัวเข้ารหัสส่วนเพิ่ม รหัสซีรีส์ (INC. ENCODER, incremental type)
B24: 24-ความละเอียดบิต (2500 P/R base, internal interpolation up to 16,000,000 พัลส์/รอบ)
RH: Structural version, designed for rear mounting on SGM7G/SGM7A medium & large inertia เซอร์โวมอเตอร์
Distinction for the same series: UTTAH-B24RH is an absolute encoder, while UTTSH-B24RH is incremental. They share similar appearance and are NOT interchangeable.
ข้อมูลจำเพาะหลัก
พิมพ์: ตัวเข้ารหัสแบบหมุนส่วนเพิ่ม (INC)
Base line count: 2500 พี/อาร์
Internal interpolation: 16,000,000 พัลส์/รอบ
มอเตอร์ที่ใช้ร่วมกันได้: SGM7G, SGM7A ยาสกาวา Sigma7 AC servo motors
ไดรฟ์ที่ตรงกัน: Sigma7 series (SGD7S/SGD7A)
การติดตั้ง: Flange direct mount on motor rear end, coaxial structure
พาวเวอร์ซัพพลาย: ดีซี5วี (powered internally by servo motor)
เอาท์พุต: A/B/Z phase differential incremental signals
Example Applicable Motors
SGM7G-09AFC61, SGM7G-20AFA61, SGM7G-30AFC61, medium and high-power models of SGM7A series
สถานการณ์การใช้งานทั่วไป
เครื่องมือเครื่องซีเอ็นซี, gantry equipment, เครื่องฉีดพลาสติก, เครื่องจักรสิ่งทอ, lithium battery equipment, robot external axes, high-precision transmission positioning.
อาการผิดปกติ & การแก้ไขปัญหา
Common alarms of damaged encoders (Sigma7 drive):
A.10 Encoder communication error
A.11 Encoder phase error
A.32 Position deviation excessive
รายการตรวจสอบการแก้ไขปัญหา:
- Check if encoder fixing screws and shaft coupling (between motor shaft and encoder core) are loose
- Inspect encoder connector pins for oxidation or pin retraction
- Impacts, water ingress and oil contamination can easily shatter the code disc; only full encoder assembly replacement is viable
- หลังจากเปลี่ยนแล้ว: Perform home position return after servo power-up. Incremental encoders lose position when power off.
การซ่อมบำรุง & ข้อควรระวังในการเปลี่ยน
- Never strike the code disc during encoder disassembly; glass code discs are fragile
- Alignment marks must be matched properly. Misalignment directly triggers A.11 alarm and motor jitter
- Distinguish UTTSH (เพิ่มขึ้น) / UTTAH (แน่นอน). Wrong model installation results in malfunction
- For second-hand units, test A/B phase waveforms and Z-phase zero point, confirm no cracks on code disc
การทดแทน & Spare Part Information
Original spare part: UTTSH-B24RH
Absolute version with identical appearance: UTTAH-B24RH (cannot directly replace UTTSH. Drive parameters need to switch to absolute mode, and the motor internal battery circuit differs)
รหัส HS: 85437099 (Rotary Encoders)
Yaskawa Sigma7 (SGD7S/SGD7A) Parameter Setting Checklist after UTTSH-B24RH (24-bit Incremental Encoder) การทดแทน
มอเตอร์ที่ใช้งานได้: SGM7G / SGM7A; ตัวเข้ารหัส: UTTSH-B24RH【24-bit Serial Incremental Encoder】
Precondition: Encoder mechanical alignment marks matched, fixing screws tightened, connector intact. Not UTTAH absolute encoder
Pre-operation (Before Power-on)
- ปิดเครื่อง, confirm encoder alignment marks aligned, no stress or collision on code disc
- Verify motor model matches the drive; motor nameplate code type F (24-bit incremental)
- Connect PC with SigmaWin+, back up all original parameters first (mandatory)
- Power on the drive and clear existing alarms
- Core Encoder Type Parameters
| หมายเลขพารามิเตอร์. | คำอธิบาย | Setting Value (UTTSH-B24RH Incremental) | หมายเหตุ |
| Pn002 | Encoder Type Selection | Pn002 = □□□0 | 0=Incremental encoder; 1=Single-turn absolute; 2=Multi-turn absolute |
| ⚠️ If previous encoder was UTTAH absolute, this must be set to 0, otherwise A.040 parameter abnormality occurs | |||
| Pn080 | Motor Phase Sequence Selection | Keep original motor factory value, do not modify arbitrarily | Pn080 generally unchanged when replacing encoder; only check/tune phase sequence if A.11 phase alarm appears |
UTTSH-B24RH is a 24-bit serial incremental encoder. The drive automatically recognizes 24-bit resolution upon power-up. No manual pulse count entry required, different from old external A/B encoders.
- Alarm Clear & Reboot Procedure
- รีเซ็ตการปลุก: Fn002 (Alarm Reset)
- After modifying Pn002, fully power down the drive, รอ 5 minutes then power on again for parameters to take effect
- After power-up, อ่าน [Motor Information] via SigmaWin+, confirm recognized as: 24bit Incremental Encoder
Recognition failure: A.10 encoder communication error, inspect connector, power supply and encoder body
III. บ้าน & Operation Related Parameters (Key for Incremental Encoder)
UTTSH incremental encoder loses home position on power loss, home return required every power-up
| หมายเลขพารามิเตอร์. | ชื่อ | หมายเหตุ |
| Pn200 | Home Return Mode | Keep original setting from host controller; incremental mode cannot select “read absolute position directly after power on” |
| Pn50A / Pn50B | Input Terminal Definition | Retain backed-up original values, generally no modification |
| Pn100~Pn104 | Gain Parameters | Load unchanged after encoder replacement, reuse old gain first. Re-run inertia identification if motor vibrates |
- Trial Run Verification Steps (Item-by-item Check)
- JOG operation (SigmaWin+ Fn003)
ปกติ: Motor rotates smoothly without jitter, no A.10/A.11
Abnormal A.11: Encoder alignment offset, power off and re-align marks
- Monitor values: Un000 (Actual Speed), Un001 (Motor Position). Position value increases/decreases normally without jumping during rotation
- Execute home return once, confirm Z-phase home mark captured correctly
- Load trial operation, no A.32 excessive position deviation alarm
- Fn Function Code Operation List
| Fn Code | การทำงาน | สถานการณ์การใช้งาน |
| Fn002 | Alarm Reset | Clear A10/A11 and other alarms |
| Fn003 | JOG Operation | Low-speed test run after installation to inspect motor and encoder |
| Fn004 | Parameter Save | Save parameters to drive flash memory after modification |
| Fn010 | Inertia Identification | Re-auto-tune gain when motor vibrates (ไม่จำเป็น) |
- ข้อผิดพลาดทั่วไป & การแจ้งเตือน
- ❌ Do NOT set Pn002 to 1/2: If original motor used UTTAH absolute encoder and replaced with UTTSH incremental, failure to change Pn002 directly triggers A.040 ความผิดพลาด
- ❌ No need to set electronic gear numerator/denominator for 24-bit serial incremental encoder to match encoder pulses; drive auto-detects code disc resolution. Electronic gear only relates to mechanical reduction ratio and host pulse unit
- A.11 phase error: 90% caused by misaligned encoder marks, not parameter issue. Prioritize mechanical reinstallation instead of modifying Pn080 blindly
- No need to run absolute encoder zero reset (Fn013) after encoder replacement. Fn013 is invalid for UTTSH incremental encoder
ปกเกล้าเจ้าอยู่หัว. Final Documentation
- Save parameters via Fn004
- Export parameter backup file again, named: Motor Model+UTTSH-B24RH
- Record on equipment: ตัวเข้ารหัสส่วนเพิ่ม, home return required every power-up
Yaskawa Servo Motor Built-in Encoder Master List (Mainstream Sigma5 / Sigma7 Series)
Quick Naming Rule:
UTTxx = Sigma7 Series; UTSIx = Sigma5 Series
SH = Incremental Type; AH = Absolute Type
Middle Bxx = Resolution; Suffix RH/RK/FL/FK = Housing, flange and connector version. Most models with same prefix but different suffixes are NOT directly interchangeable
- Sigma7 Series (SGM7G / SGM7A / SGM7J / SGM7P / SGM7D)【Focus: UTTSH-B24RH belongs here】
✅ Incremental Encoder UTTSH (24-bit Serial Incremental)
| Encoder Model | ปณิธาน | มอเตอร์ที่ใช้ร่วมกันได้ | หมายเหตุ |
| UTTSH-B24RH | 24bit Incremental | SGM7G, SGM7A Medium & Large Inertia | Your target model, large flange side outlet connector |
| UTTSH-B24RK20 | 24bit Incremental | SGM7A/SGM7G Small Flange Version | Different connector position, cannot replace B24RH directly |
| UTTSH-B24RK50 | 24bit Incremental | High-power SGM7G Motors | Special for high-torque motors |
| UTTSH-B20RK | 20bit Incremental | SGM7J / SGM7P Low Power | Low inertia flat motor |
✅ Absolute Encoder UTTAH (24-bit Absolute, แบตเตอรี่สำรอง)
| Encoder Model | ปณิธาน | มอเตอร์ที่ใช้ร่วมกันได้ | หมายเหตุ |
| UTTAH-B24RH | 24bit Absolute | SGM7G, SGM7A | Almost identical appearance to UTTSH-B24RH, ไม่สามารถเปลี่ยนกันได้โดยตรง |
| UTTAH-B24RT | 24bit Absolute | High-power SGM7G | Terminal difference |
| UTTAH-B20FL | 20bit Absolute | SGM7J / SGM7P | Low-power absolute motor |
| UTTAH-B20GL | 20bit Absolute | SGM7J | Connector structural difference |
New battery-less absolute for Sigma7 (B26 series): UTNAH-B26CX (26-bit battery-free absolute encoder for high-end SGM7G/A motors)
- Sigma5 Series (สกมฮ / SGMAH / SGMSH / SGMPSH) Older Generation, UTSIH / UTTIH
✅ Incremental UTSIH
| Encoder Model | ปณิธาน | มอเตอร์ที่ใช้ร่วมกันได้ |
| UTSIH-B17CA | 17bit Incremental | Old Sigma5 SGMGH medium-large inertia |
| UTSIH-B17CK | 17bit Incremental | สกมฮ |
| UTSIH-B17CC | 17bit Incremental | Low-power Sigma5 SGMAH |
✅ Absolute UTTIH
| Encoder Model | ปณิธาน | มอเตอร์ที่ใช้ร่วมกันได้ |
| UTTIH-B20FK | 20bit Absolute | Sigma5 SGMGH |
| UTTIH-B20FN | 20bit Absolute | สกมฮ |
| UTTIH-B20TL | 20bit Absolute | สกมฮ |
III. Sigma8 Latest Series (SGM8A/SGM8G)
Sigma8 encoders adopt revised prefixes, no longer UTTxx. New-generation 26-bit serial encoders paired with SGD8S drives. Not compatible with Sigma7 encoders
- Quick Model Distinction Table (For Maintenance & อะไหล่)
| คำนำหน้า | รุ่น | พิมพ์ | Typical Resolution | Keywords |
| UTTSH | Sigma7 | INC Incremental | 24นิดหน่อย | Lose home on power off, Pn002=0 |
| UTTAH | Sigma7 | ABS Absolute | 24นิดหน่อย | แบตเตอรี่สำรอง, retain position at power-off, Pn002=1 |
| UTNAH | Sigma7 | Battery-less Absolute | 26นิดหน่อย | New design, no battery required |
| UTSIH | Sigma5 | INC Incremental | 17นิดหน่อย | Old Sigma5 motors |
| UTTIH | Sigma5 | ABS Absolute | 20นิดหน่อย | Old Sigma5 absolute |
- Critical Replacement & หมายเหตุการเลือก
- Same prefix with suffix RH / RK / FL are not universal: Different flange, connector and mounting hole layout. Cannot install even with identical resolution
- UTTSH ≠ UTTAH: Similar external appearance, different hardware and drive parameters. Wrong assembly triggers A.040 / A.10 alarms
- Sigma7 24-bit serial encoders do not require manual electronic gear setup for encoder pulse matching, drive auto-recognition applies. Same rule for old Sigma5 17bit. Only old standalone A/B encoders need manual configuration
- SGM7D/SGM7E direct drive motors use dedicated built-in encoders, rarely sold separately in spare parts market
- Obsolete Legacy Models (Sigma-II, Sigma-III, SGMAH/SGMPH)
LF series: LF-205A / LF-210 / LF-220, very old stock. Barely available as new original parts, only for legacy equipment repair
