YASKAWA SGD7S series Product Manual page 276

6.12 Absolute Encoders
6.12.4 Reading the Position Data from the Absolute Encoder
Sequence for Reading the Position Data from the Absolute
Encoder Using the SEN (Absolute Data Request) Signal
The sequence for using the SEN signal to read the position data from the absolute encoder of a Rotary
Servomotor is given below.
The multiturn data is sent according to the transmission specifications.
The position of the absolute encoder within one rotation is output as a pulse train.
Control power
upply *1
Main circuit
power upply
ALM ignal
/ -RDY ignal
/ -ON ignal
Motor power tatu
EN ignal *1
PAO ignal
PBO ignal
P O ignal
*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.
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
Important
6-78
OFF
OFF
No alarm
OFF
OFF
OFF
Undefined.
Undefined.
Undefined.
90 m
5 max. 50 m typ.
Calculation of the Pulse Output Speed
Setting of Pn212
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]
•
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.
EN ignal
OFF ON (high level)
1. min.
•
The SEN signal is not acknowledged while the servo is ON.
ON
ON
Power not upplied.
ON
Po ition within one rotation
Multiturn data
(incremental pul e )
Po ition within one rotation
(incremental pul e )
T *2
Approx. 15 m
1 m to m
for the Position of the Absolute
Encoder within One Rotation
OFF ON
15 m min.
ON
ON
Power upplied.
Incremental pul e
Incremental pul e
Multiturn data + po ition
within one rotation
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.