Absolute External Encoder Reception Sequence - YASKAWA SGMJV User Manual

9 Fully-closed Loop Control

9.2.5 Absolute External Encoder Reception Sequence

(2) Related Parameter
Pn281
(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 in one of the following patterns.
• 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

9.2.5 Absolute External Encoder Reception Sequence

The sequence in which the SERVOPACK receives outputs from the absolute external encoder and transmits
them to host controller is shown below.
(1) Outline of Absolute Signals
The serial data, pulses, etc., of the absolute external encoder that are output from the SERVOPACK are output
from the PAO, PBO, and PCO signals as shown below.
Host
controller
Signal Name
PCO
9-14
Encoder Output Pulses
Setting Range
1 to 4096
SERVOPACK with option module for fully-closed loop control
CN1
SEN
PAO
Dividing
circuit
PBO
(Pn212)
PCO
Status
At initialization
PAO
Normal time
At initialization
PBO
Normal time
Always
Setting Unit Factory Setting
1 P/pitch
CN31
Serial
External
data
Serial data→
encoder
pulse conversion
Contents
Serial data
Initial incremental pulses
Incremental pulses
Initial incremental pulses
Incremental pulses
Origin pulses
Position
When Enabled
20 After restart
Classifica-
tion
Setup