YASKAWA E-7-Series SGD7S Product Manual page 244

Control power
supply *1
OFF
Main circuit
OFF
power supply
ALM signal
No alarm
/S-RDY signal
OFF
/S-ON signal
OFF
Motor power status
SEN signal *1
OFF
PAO signal Undefined.
PBO signal Undefined.
PSO signal
Undefined.
5 s max.
*1. When you turn OFF the control power supply, turn OFF the SEN signal.
*2. The pulse output time T for the position of the absolute encoder within one rotation depends on the setting of Pn212
(Number of Encoder Output Pulses). Refer to the following table.
Setting of Pn212
16 to 16,384
16,386 to 32,768
32,722 to 65,536
65,544 to 131,072
131,088 to 262,144
262,176 to 524,288
524,352 to 1,048,576
1,048,704 to 2,097,152
2,097,408 to 4,194,304
•
Maintain the SEN signal at the high level for at least 1.3 seconds when you turn it OFF before you
turn it ON again, as shown in the following figure.
SEN signal
Important
OFF ON (high level)
•
The SEN signal is not acknowledged while the servo is ON.
Sequence for Reading the Position Data from the Absolute
Encoder without Using the SEN (Absolute Data Request) Signal
The sequence for reading the position data from the absolute encoder of a Rotary Servomotor without
using the SEN signal is given below.
6.12.4 Reading the Position Data from the Absolute Encoder
ON
ON
ON
ON
Power not supplied.
ON
Position within one rotation
Multiturn data
(incremental pulses)
Position within one rotation
(incremental pulses)
90 ms
50 ms typ. Approx. 15 ms
1 ms to 3 ms
Calculation of the Pulse Output Speed
for the Position of the Absolute
Encoder within One Rotation
680 × Pn212/16,384 [kpps]
680 × Pn212/32,768 [kpps]
680 × Pn212/65,536 [kpps]
680 × Pn212/131,072 [kpps]
680 × Pn212/262,144 [kpps]
680 × Pn212/524,288 [kpps]
680 × Pn212/1,048,576 [kpps]
680 × Pn212/2,097,152 [kpps]
680 × Pn212/4,194,304 [kpps]
OFF ON
1.3 s min.
15 ms min.
6.12 Absolute Encoders
Power supplied.
Incremental pulses
Incremental pulses
Multiturn data + position
within one rotation
S_Analog
T *2
Calculation of the Pulse Output Time T
for the Position of the Absolute
Encoder within One Rotation
25 ms max.
50 ms max.
100 ms max.
200 ms max.
400 ms max.
800 ms max.
1,600 ms max.
3,200 ms max.
6,400 ms max.
6
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