Contents Of Absolute Data; Serial Data; Initial Incremental Pulse; Absolute Data Transmitting Sequence - YASKAWA SGM series User Manual

APPLICATIONS OF Σ-SERIES PRODUCTS
3.8.5 Using an Absolute Encoder cont.
3
SGDA-
Speed/Torque
152
b) Contents of Absolute Data

Serial Data:

Initial Incremental Pulse:

Coordinate data
Value M
Absolute data P
P P = M ¢ R+P = M ¢ R+P
E E
P = P − P
M E S
c) Absolute Data Transmitting Sequence
For speed/torque control (SGDA-jjjS).
S
(3) Set the SEN signal at
high level.
(4) After 100 ms, set the
system to serial data
reception-waiting-state.
Clear the incremental
pulse up/down counter
to zero.
(5) Receive eight bytes of
serial data.
(6) The system enters a
normal incremental op-
eration state approximately 50 ms after the last serial data is received.
Indicates how many turns the motor shaft has made from
the reference position (position specified at setup).
Outputs pulses at the same pulse rate as when the motor
shaft rotates from the home position to the current posi-
tion at the maximum speed of 4,900 r/min.
Reference position
(setup)
can be determined using the following formula.
M
P Current value read by encoder
E
M Serial data (rotation count data)
O O
P Number of initial incremental pulses
O
(Normally, this is a negative value)
P Number of initial incremental pulses read at setup
S
P Current value required for the customer system
M
R Number of pulses per encoder revolution
(pulse count after dividing, value of Cn-0A)
Undefined
Undefined
Undefined
10 to
15 ms
Current position
Rotation count Initial incremental
serial data pulse
Incremental
pulse
(Phase A) (Phase A)
Incremental
Initial
pulse
incremental
(Phase B) (Phase B)
pulse
Rotation count
serial data
1 to
3 ms
Approx.
23 ms