Yaskawa serial encoders come in several bit types and can be "Incremental" (INC), meaning singleturn with no battery backup, or "Absolute" (ABS), meaning multiturn with battery backup. Unfortunately it is hard to identify them by looking at the encoder as they typically do not have any identification on them. This table below will help identify which type of encoder is being used based upon the motor model.
For all Yaskawa Sigma (Σ) motors, the feedback identifier is always the 4th digit directly after the 5 digit model type. For example, this motor SGMAH-A1A2A21 has a "2" in the 4th digit which is a 17 bit ABS encoder type.
| Encoder ID | Serial Encoder Type | Motor Series | Encoder Model |
| 1 | 16 bit ABS | Σ-II | UTSAH-B16 |
| 2 | 17 bit ABS | Σ-II, Σ-III, Σ-7 | UTSAH-B17, UTTAH-B17, UTSAE-B17 |
| 3 | 20 bit ABS | Σ-II, Σ-V | UTTAH-B20 |
| 4 | 16 bit ABS (Super Cap) | Σ-II | |
| 5 | 17 bit ABS | Σ-II | UTSAH-B17, UTTAH-B17, UTSAE-B17 |
| 7 | 24 bit ABS | Σ-7 | UTTAI-B24 |
| A | 13 bit INC | Σ-II, Σ-III, Σ-V | UTSIH-B13 |
| B | 16 bit INC | Σ-II | UTSIH-B16, UTSSH-B16 |
| C | 17 bit INC | Σ-II, Σ-III | UTTIH-B17 |
| D | 20 bit INC | Σ-II, Σ-V | UTTIH-B20 |
| F | 24 bit INC | Σ-7 | UTTSI-B24 |
Here are the various motor model types and their corresponding Sigma (Σ) series.
Σ-II
SGMAH, SGMPH, SGMGH, SGMIH, SGMSH, SGMDH, SGMCS
Σ-III
SGMMJ, SGMAS, SGMPS, SGMSS
Σ-V
SGMJV, SGMAV, SGMGV, SGMEV, SGMSV
Σ-7
SGM7J, SGM7A, SGM7P, SGM7G, SGMMV (Σ-V mini Series)
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