Connecting An Absolute Encoder; Structure Of The Position Data Of The Absolute Encoder; Encoder - YASKAWA SGD7S series Product Manual

6.12 Absolute Encoders

6.12.1 Connecting an Absolute Encoder

6.12.1 Connecting an Absolute Encoder

The following diagram shows the typical connections between a Servomotor with an absolute encoder,
the SERVOPACK, and the host controller.
Ab olute encoder
ENC
*1. The absolute encoder pin numbers for wiring the connector depend on the Servomotor that you use.
*2.
*3. If you use an Encoder Cable with a Battery Case, do not install a battery at the host controller.
Refer to the following section for details on the typical connections.
4.4.3

6.12.2 Structure of the Position Data of the Absolute Encoder

The position data of the absolute encoder is the position coordinate from the origin of the absolute

encoder.

The position data from the absolute encoder contains the following two items.
•
The number of rotations from the origin of the encoder coordinate system (called the multiturn data)
•
The position (number of pulses) within one rotation
The position data of the absolute encoder is as follows:
Position data of absolute encoder = Multiturn data
(setting of Pn212)+ Position (number of pulses) within one rotation.
For a single-turn absolute encoder, the multiturn data is 0.
6-74
*1
*2
CN2
P
5
/P
6
Output line driver:
or the equivalent
1
PG5 V
PG0 V 2
BAT(+)
BAT(-)
+ -
Connector
*3
Battery
( hell)
Encoder Cable
with a Battery Ca e
represents a shielded twisted-pair cable.
Wiring the SERVOPACK to the Encoder
ERVOPACK
CN1
Pha e A
PAO
4
/PAO
Pha e B PBO
5
6 /PBO
Pha e C
19 PCO
20
/PCO
P O
/P O
N75AL 174
CN1
EN
4
2 G
1
G
4
hell
Connector
hell
on page 4-26
×
Number of pulses within one encoder rotation
Ho t controller
*2
Pha e A
R
R Pha e B
Pha e C
R
R
+5 V
0 V
Applicable Line Receiver: N75AL 175 or
MC 486 manufactured
by Texa In trument
or the equivalent
R (terminating re i tance): 220 Ω to 470 Ω