YASKAWA SGD7S Product Manual page 273

6.12 Absolute Encoders
6.12.4 Reading the Position Data from the Absolute Encoder
Sequence for Reading the Position Data from the Absolute
Encoder without Using the SEN (Absolute Data Request) Signal
The sequence for reading the position data from the absolute encoder of a Rotary Servomotor without
using the SEN signal is given below.
When the specified time has elapsed after the control power supply to the SERVOPACK is turned ON,
the SERVOPACK will automatically read the position data from the absolute encoder.
The position data from the absolute encoder is sent according to the transmission specifications.
The position of the absolute encoder within one rotation is output as a pulse train.
Control power
supply
Main circuit
power supply
ALM signal
/S-RDY signal
/S-ON signal
Motor power status
PAO signal
PBO signal
PSO signal
* The pulse output time T for the position of the absolute encoder within one rotation depends on the setting of Pn212
(Number of Encoder Output Pulses). Refer to the following table.
16 to 16,384
16,386 to 32,768
32,722 to 65,536
65,544 to 131,072
131,088 to 262,144
262,176 to 524,288
524,352 to 1,048,576
1,048,704 to 2,097,152
2,097,408 to 4,194,304
6-78
OFF
OFF
No alarm
OFF
OFF
Undefined.
Undefined.
Undefined.
90 ms
5 s max. 50 ms typ.
Calculation of the Pulse Output Speed
Setting of Pn212
680 × Pn212/16,384 [kpps]
680 × Pn212/32,768 [kpps]
680 × Pn212/65,536 [kpps]
680 × Pn212/131,072 [kpps]
680 × Pn212/262,144 [kpps]
680 × Pn212/524,288 [kpps]
680 × Pn212/1,048,576 [kpps]
680 × Pn212/2,097,152 [kpps]
680 × Pn212/4,194,304 [kpps]
ON
ON
Power not supplied.
Multiturn
Position within one rotation
data
(incremental pulses)
Position within one rotation
(incremental pulses)
Approx. 15 ms
1 ms to 3 ms
for the Position of the Absolute
Encoder within One Rotation
ON
ON
Power supplied.
Incremental pulses
Incremental pulses
Multiturn data + position
within one rotation
T *
Calculation of the Pulse Output Time T
for the Position of the Absolute
Encoder within One Rotation
25 ms max.
50 ms max.
100 ms max.
200 ms max.
400 ms max.
800 ms max.
1,600 ms max.
3,200 ms max.
6,400 ms max.