Reading The Position Data From The Absolute Encoder - YASKAWA SGD7S-1R9D Product Manual

6.8.4

Reading the Position Data from the Absolute Encoder

The sequence to read the position data from the absolute encoder of a Rotary Servomotor is given
below.
The multiturn data is sent according to the transmission specifications.
The position of the absolute encoder within one rotation is output as a pulse train.
Control power
OFF
supply
Main circuit
OFF
power supply
ALM signal
/S-RDY signal
Controlword
(6040 hex)
Statusword
(6041 hex)
Motor power status
PAO signal
PBO 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.
Setting of Pn212
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
No alarm
OFF
Disable Operation
Switched on
Multiturn
Undefined.
data
Undefined.
90 ms
5 s max. 50 ms typ.
Approx. 15 ms
Calculation of the Pulse Output Speed
for the Position of the Absolute Encoder
within One Rotation
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]

6.8.4 Reading the Position Data from the Absolute Encoder

ON
ON
Power not supplied.
Position within one rotation
(incremental pulses)
Position within one rotation
(incremental pulses)
T*
1 ms to 3 ms
Calculation of the Pulse Output Time T
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.
6.8 Absolute Encoders
ON
Enable Operation
Operation Enabled
Power supplied.
Incremental pulses
Incremental pulses
for the Position of the Absolute
Encoder within One Rotation
6
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