Absolute Data Request (Sens On Command) - YASKAWA SGMJV User Manual

4.7.2 Absolute Data Request (SENS ON Command)

The Turn Encoder Power Supply ON command (SENS_ON) must be sent to obtain absolute data as an output
from the SERVOPACK.
The SENS_ON command is sent at the following timing.
SERVOPACK control
power supply
ALM signal OFF
(Alarm status)
SENS_ON
(Turn Encoder Power
Supply ON)
PAO
PBO
Servomotor power
∗
Send the SENS_OFF command to turn OFF the control power supply.
ON
5 seconds max.
OFF
ON (Normal status)
OFF
ON
OFF
Rotational serial data
Undefined
Undefined
OFF
60 ms max.
(90 ms typ.)
Approx.
50 ms
15 ms
The servomotor will not be turned ON even if the SV_ON command is received during this interval.
Initial incremental Incremental
pulses
pulses
(Phase A) (Phase A)
Initial incremental Incremental
pulses pulses
(Phase B) (Phase B)
ON
400 ms max.
1 to 3 ms
4.7 Absolute Encoders
*
OFF
OFF
OFF
OFF
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