Absolute Encoder Reception Sequence - YASKAWA SGMAH User Manual

Sigma II User's Manual
5.7.5

Absolute Encoder Reception Sequence

The sequence in which the servo amplifier receives data from the absolute encoder
and transmits them to the host device is shown below.
Be sure you understand this section when designing the host device.
Outline of Absolute Signals
The absolute encoder's outputs are PAO, PBO, PCO, and PSO signals as shown
below.
PS
PG
Signal
Initial State
PAO
Normal State
Initial State
PBO
PCO Normal State
PSO
Contents of Absolute Data
• Serial data: Indicates how many turns the motor shaft has made from the
reference position (position specified at setup).
• Initial incremental pulse: Outputs pulses at the same pulse rate as when the
motor shaft rotates from the home position to the current position at
approximately 2500rpm (for 16 bits when the dividing pulse is at the default
setting).
Coordinate value
Value M
Servo amplifier
Serial data
pulse conversion
Data data
conversion
Status
Reference position (setup)
-1 0
+0 +1
Chapter 5: Parameter Settings and Functions
PAO
Dividing
circuit
PBO
(Pn201)
PCO
PSO
Contents
Serial data
Initial incremental pulse
Incremental pulse
Initial incremental pulse
Incremental pulse
Home position pulse
Rotation count serial data
Current position
+1 +2
+2
M × R
PE
PS PM
5-104
+3
+3
PO