YASKAWA SGD7S Product Manual page 285

6.13 Absolute Linear Encoders
6.13.4 Reading the Position Data from the Absolute Linear Encoder
Sequence for Reading the Position Data from the Absolute
Linear Encoder Using the SEN (Absolute Data Request) Signal
The sequence for using the SEN signal to read the position data from the absolute linear encoder of a
Linear Servomotor is given below.
The upper 16-bit position data (with sign) are sent according to the transmission specifications.
The lower 20-bit data is output as a pulse train.
Control power
supply *
Main circuit
power supply
ALM output signal
/S-RDY signal
/S-ON signal
Motor power status
SEN signal *
PAO signal
PBO signal
PSO signal
* When you turn OFF the control power supply, turn OFF the SEN signal.
Important
6-90
OFF
OFF
OFF
OFF
OFF
Undefined.
Undefined.
Undefined.
90 ms
typ.
5 s max. 50 ms
•
Maintain the SEN signal at the high level for at least 1.3 seconds when you turn it OFF before you
turn it ON again, as shown in the following figure.
SEN signal
OFF ON (high level)
1.3 s min.
•
The SEN signal is not acknowledged while the servo is ON.
ON
ON
No alarm
Power not supplied.
ON
Lower 20-bit position data
Upper 16-bit position
(incremental pulses)
data (with sign)
Lower 20-bit position data
(incremental pulses)
Approx. 15 ms
400 ms max.
1 ms to 3 ms
OFF ON
15 ms min.
ON
ON
Power supplied.
Incremental pulses
Incremental pulses
Signed 36-bit
position data