YASKAWA SGMJV User Manual page 295

(2) Absolute Data Transmission Sequence and Contents
1. Send the Turn Encoder Power Supply ON (SENS_ON) command from the host controller.
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 characters of serial data.
4. The system enters a normal incremental operation state about 400 ms after the last serial data is received.
SENS_ON
(Turn Encoder
Power Supply ON)
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.
0
Coordinate
value
0
Values of
Mo and Ms
× R
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
M
R 1048576
Note: If host controller receives the data from the external absolute encoder, do not perform counter reset using the output
of PCO signal.
Serial data
60 ms min.
90 ms typ.
50 ms
About 15 ms
Reference position (at setup)
1 2
1 (M )
S
× R
M
o
P
E
P
S
is calculated by following formula.
8.3 Parameter 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
M
Meaning
8
8-19