External Absolute Encoder Data Reception Sequence - YASKAWA SGDV series User Manual

8 Fully-closed Loop Control

8.3.4 External Absolute Encoder Data Reception Sequence

(2) Related Parameter
Pn281
Note: The maximum setting for the encoder output resolution is 4096. When the number of divisions on the external
encoder is more than 4096, the data shown in 8.3.5
no longer applicable.
(3) Phase-C Pulse Output Specifications
The pulse width of phase C (origin pulse) varies according to the encoder output resolution (Pn281), and will
become the same as the pulse width of phase A.
Output timing for the phase-C pulse is one of the following.
• In synchronization with the phase-A rising edge
• In synchronization with the phase-A falling edge
• In synchronization with the phase-B rising edge
• In synchronization with the phase-B falling edge
8.3.4

External Absolute Encoder Data Reception Sequence

The sequence in which the SERVOPACK receives outputs from the external absolute encoder and transmits
them to host controller in fully-closed loop control is shown below.
(1) Outline of Absolute Signals
The serial data, pulses, etc., of the external 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
Note: When host controller receives the data from the external absolute encoder, do not perform counter reset using the
output of PCO signal.
8-18
Encoder Output Resolution
Setting Range
1 to 4096
Phase C of the rotational external absolute encoder is output only at the encoder's first
point of origin after the power is supplied. Phase C of the external encoder is not output
every rotation.
SERVOPACK with Fully-closed Module
CN1
PAO
Dividing
Serial data→
PBO
circuit
pulse conversion
(Pn281)
PCO
Status
At initialization
PAO
Normal Operations
At initialization
PBO
Normal Operations
Always
Setting Unit Factory Setting
1 edge/pitch 20
External Encoder Sine Wave Pitch and Number of Divisions is
CN31
Serial
External
data
encoder
Contents
Serial data
Initial incremental pulses
Incremental pulses
Initial incremental pulses
Incremental pulses
Origin pulses
Position
When Enabled
After restart
MECHA
Classifica-
tion
Setup