YASKAWA SGMJV User Manual page 130

4 Operation
4.7.5 Absolute Data Reception Sequence
(2) Absolute Data Reception Sequence
1. Send the Turn Encoder Power Supply ON (SENS_ON) command from the host controller.
2. After 100 ms, the system is set to rotational serial data reception standby and the incremental pulse up/
down counter is cleared to zero.
3. Eight characters of rotational serial data is received.
4. The system enters a normal incremental operation state about 400 ms after the last rotational serial data is
received.
SENS_ON
(Turn Encoder
Power Supply ON)
<NOTE>
The output pulses are phase-B advanced if the servomotor is turning forward regardless of the setting in
Pn000.0.
Rotational serial data:
Indicates how many turns the motor shaft has made from the reference position, which was the position at
setup.
Initial incremental pulses:
Initial incremental pulses which provide absolute data are the number of pulses required to rotate the motor
shaft from the servomotor origin to the present position.
Just as with normal incremental pulses, these pulses are divided by the dividing circuit inside the SERVO-
PACK and then output.
The initial incremental pulse speed depends on the setting of the encoder output pulses (Pn212). Use the fol-
lowing formula to obtain the initial incremental pulse speed.
Setting of the Encoder Output Pulses
16 to 16384
16386 to 32768
32772 to 65536
65544 to 131072
131088 to 262144
4-44
Undefined
PAO
Undefined
PBO
50 ms
(Pn212)
Rotational
serial data
Initial
incremental
pulses
(Phase A)
Initial
incremental
pulses
(Phase B) (Phase B)
60 ms min.
90 ms typ.
400 ms max.
Approx. 15 ms
1 to 3 ms
Formula of the Initial Incremental Pulse Speed
680 × Pn212
[kpps]
16384
680 × Pn212
[kpps]
32768
680 × Pn212
[kpps]
65536
680 × Pn212
[kpps]
131072
680 × Pn212
[kpps]
262144
Incremental pulses
(Phase A)
Incremental pulses