YASKAWA SGMJV User Manual page 328

(2) Absolute Encoder Transmission Sequence and Contents
Absolute Encoder Transmission Sequence
1. Set the SEN signal at ON (high level).
2. After 100 ms, 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 about 400 ms after the last serial data is received.
SEN signal
Undefined
PAO
Undefined
PBO
Serial data:
The current position pulses divided by Pn281 are output in serial data.
One serial data is a value equivalent to 1048576 pulses.
Initial incremental pulses:
The current position pulses divided by Pn281 are output in pulses. The number of output pulses is between 0
to 1048576, and the output speed is approximately 1.48 µs per pulse.
Reference 0
value
Value of
Mo × Ms
M
S
Final absolute data P
M
× R+P
P =M
E O O
×R–P
P =P –M
M E S S
Signal
P
Current position of external encoder
E
M
Serial data of current position
O
P
Number of initial incremental pulses of current position
O
M
Serial data of reference position
S
P
Number of initial incremental pulses of reference position
S
P
Current value required for the user's system
U
R 1048576
Note: When host controller receives the data of absolute encoder, do not perform counter reset using the output of PCO
signal.
Rotational
serial data
60 ms min.
90 ms typ.
50 ms
About 15 ms
Reference position
1 2
±0
0 1 (M )
S
× R
M
o
P
E
× R
P
S
is calculated by following formula.
9.2 Settings for Fully-closed Loop Control
Incremental pulses
Initial
incremental
pulses
(Phase A)
(Phase A)
Initial Incremental pulses
incremental
pulses
(Phase B) (Phase B)
400 ms max.
1 to 3 ms
Current position
3
2 3 (Mo)
P
O
P
U
Meaning
9
9-15