Absolute Data Reception Sequence - YASKAWA SGDV series User Manual

4 Operation

4.5.5 Absolute Data Reception Sequence

4.5.5

Absolute Data Reception Sequence

The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to
host controller is shown below.
(1) Outline of Absolute Data
The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the
PAO, PBO, and PCO signals as shown below.
Host
controller
Signal Name
PCO
Phase-C Output Specifications
The pulse width of phase C (origin pulse) changes depending on the encoder output pulse (Pn212), becoming
the same width as phase A.
The output timing is one of the following.
• Synchronized with the rising edge of phase A
• Synchronized with the falling edge of phase A
• Synchronized with the rising edge of phase B
• Synchronized with the falling edge of phase B
Note: When host controller receives the data of absolute encoder, do not perform counter reset using the output of PCO
signal.
(2) Absolute Data Reception Sequence
1. Turn ON the Sensor ON command from the host controller.
2. After 100 ms, the system is set to rotational serial data reception standby and the incremental pulse up/
down counter is cleared to zero.
3. Eight characters of rotational serial data is received.
4. The system enters a normal incremental operation state about 400 ms after the last rotational serial data is
received.
Sensor ON
command
PAO
PBO
4-42
SERVOPACK
CN1
PAO
Dividing Serial data→
PBO
pulse conversion
circuit
(Pn212)
PCO
Status
At initialization
PAO
Normal Operations
At initialization
PBO
Normal Operations
Always
Undefined
Undefined
50 ms
MECHA
CN2
Serial
data
ENC
Contents
Rotational serial data
Initial incremental pulses
Incremental pulses
Initial incremental pulses
Incremental pulses
Origin pulses
Rotational
serial data
Initial
incremental
pulses
(Phase A)
(Phase A)
Initial
incremental
pulses
(Phase B) (Phase B)
60 ms min.
90 ms typ.
400 ms max.
Approx. 15 ms
1 to 3 ms
M-II
Incremental pulses
Incremental pulses