YASKAWA E-7-Series SGD7S Product Manual page 256

Sequence for Reading the Position Data from the Absolute
Linear Encoder Using the SEN (Absolute Data Request) Signal
The sequence for using the SEN signal to read the position data from the absolute linear encoder of a
Linear Servomotor is given below.
The upper 16-bit position data (with sign) are sent according to the transmission specifications.
The lower 20-bit data is output as a pulse train.
Control power
supply *
OFF
Main circuit
power supply
OFF
ALM output signal
/S-RDY signal
OFF
/S-ON signal
OFF
Motor power status
SEN signal *
OFF
Undefined.
PAO signal
Undefined.
PBO signal
Undefined.
PSO signal
5 s max.
* When you turn OFF the control power supply, turn OFF the SEN signal.
•
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 linear encoder of a Linear Servomotor
without using the SEN signal is given below.
When the specified time has elapsed after the control power supply to the SERVOPACK is turned ON,
the SERVOPACK will automatically read the position data from the absolute linear encoder.
The upper 16-bit position data (with sign) are sent according to the transmission specifications.
The lower 20-bit data is output as a pulse train.
6.13.4 Reading the Position Data from the Absolute Linear Encoder
ON
ON
No alarm
ON
ON
Power not supplied.
ON
Lower 20-bit position data
Upper 16-bit position
(incremental pulses)
data (with sign)
Lower 20-bit position data
(incremental pulses)
90 ms
50 ms typ. Approx. 15 ms
1 ms to 3 ms
OFF ON
1.3 s min.
15 ms min.
6.13 Absolute Linear Encoders
Power supplied.
Incremental pulses
Incremental pulses
Signed 36-bit
position data
S_Analog
400 ms max.
6
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