YASKAWA SGMAH User Manual page 189

Sigma II User's Manual
The final absolute data P
Forward rotation mode:
(Pn 000.0 = 0)
Absolute Encoder Transmission Sequence
1. Set the SEN signal at high level.
2. After 100ms, set the system to serial data reception-waiting-state. Clear the
incremental pulse up/down counter to zero.
3. Receive eight bytes of serial data.
4. The system enters a normal incremental operation state approximately 50ms
after the last serial data is received.
SEN signal
Undefined
PAO
Undefined
PBO
Undefined
PSO
can be found by using the following formulas:
M
= M × R + P
P
E O
− P
P = P
M E S
Where: P = The current value read by the encoder.
E
M = The multi-turn data (rotation count data).
P = The number of initial incremental pulses.
O
P = The number of initial incremental pulses read at setup.
S
(This is saved and controlled by the host controller).
P = The current value required for the user's system.
M
R = The number of pulses per encoder revolution.
(Pulse count after dividing by the value of Pn201)
Rotation count
serial data
Initial
incremental pulses
10ms
60ms minimum
max.
90ms typical
260ms maximum
50 ms
Approx. 15ms
Chapter 5: Parameter Settings and Functions
Reverse rotation mode:
(Pn0000.0 = 1)
Initial incremental pulses
(Phase A)
(Phase A)
(Phase B) (Phase B)
1 to 3ms
25ms maximum
5-105
( )
= − M × R + P
P
E
− R
P = P
M E S
Incremental pulses
Incremental pulses
Rotation count serial data
O