Alarm Output From Output Ports For The Position Data From The Absolute Encoder - YASKAWA SGD7S Product Manual

Symbol
Position data for the current position of the
P
E
absolute encoder
Current position of the multiturn data of the
M
absolute encoder
P
Position of the current position within one rotation
O
Position data of the absolute encoder when
P
S
absolute encoder was reset
Multiturn data of the absolute encoder when
M
S
absolute encoder was reset
Position of the absolute encoder within one
P '
S
rotation when absolute encoder was reset
P
Current position in machine coordinate system
M
R Number of encoder pulses per revolution
Calculations for Reverse Rotation Mode (Pn000 = n.1)
1. If you are using a Rotary Servomotor, you must reset the absolute encoder. Refer to the fol-
Information
2. You can set the origin to a different position from the reset position. Refer to the following sec-
6.8.7 Alarm Output from Output Ports for the Position Data
from the Absolute Encoder
Any alarm detected by the SERVOPACK is transmitted as multiturn data to the host controller with the
PAO (Encoder Divided Pulse Output) signal when the SENS_ON (Turn ON Sensor) command turns
OFF.
ALM signal
Motor power
status
Main circuit
power supply
Control power
supply
SENS_ON
command
PAO signal
The data format of the alarm information is shown below.
A
L
M
Upper two digits
0 to 9
of alarm code
0 to 9
.
CR

6.8.7 Alarm Output from Output Ports for the Position Data from the Absolute Encoder

Meaning
lowing section for information on resetting the absolute encoder.
5.16 Resetting the Absolute Encoder
tion for information on the origin position offset.
5.17
Setting the Origin of the Absolute Encoder
Servo ON Servo OFF (Power not supplied.)
(Power supplied.)
ON OFF
ON
ON OFF
Encoder Divided Pulse
Output (PAO and PBO)
Signals
Encoder output pulses
(encoder pulses x setting
of Pn212)
−
Encoder output pulses
(encoder pulses x setting
of Pn212)
−
Encoder output pulses
(encoder pulses x setting
of Pn212)
Setting of Pn212
PM = PE - PS
PE = -M × R + PO
PS = MS × R + PS
on page 5-46
on page 5-49
Alarm information
6.8 Absolute Encoders
Setting or Unit
Absolute Encoder
Position Output (PSO)
Signal
Encoder pulses
−
Encoder pulses
−
Encoder pulses
Encoder resolution
PM = PE - PS
PE = -M × R - PO
PS = MS × R - PS'
6
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