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- 1
Coordinate
value
-1
Value of M
Final absolute data P
is calculated by following formula.
M
P
=M× R+P
E
O
× R+P
P
=M
'
S
S
S
P
=P
-P
M
E
S
Signal
P
Current value read by encoder
E
M
Rotational serial data
P
Number of initial incremental pulses
O
P
Absolute data read at setup (This is saved and controlled by the host controller.)
S
M
Rotational serial data read at setup
S
P
'
Number of initial incremental pulses read at setup
S
P
Current value required for the user's system
M
R
Number of pulses per encoder revolution (pulse count after dividing, value of Pn212)
Note: The following formula applies in reverse mode. (Pn000.0 = 1)
P
= -M × R + P
E
O
× R + P
P
= M
'
S
S
S
P
= P
- P
M
E
S
Reference position
(at setup)
0
+1
±0
+1
M × R
P
E
P
P
S
M
Current position
+2
+3
+2
P
O
Meaning
4.7 Absolute Encoders
4
4-45
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