YASKAWA SGD7S series Product Manual page 277

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.
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 encoder.
The position data from the absolute encoder is sent according to the transmission specifications.
The position of the absolute encoder within one rotation is output as a pulse train.
Control power
OFF
upply
Main circuit
OFF
power upply
ALM ignal
No alarm
/ -RDY ignal
OFF
/ -ON ignal
OFF
Motor power tatu
Undefined.
PAO ignal
Undefined.
PBO ignal
P O ignal Undefined.
5 max. 50 m
* 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
6.12.4 Reading the Position Data from the Absolute Encoder
ON
ON
Power not upplied.
Multiturn
Po ition within one rotation
data
(incremental pul e )
Po ition within one rotation
(incremental pul e )
90 m
typ.
Approx. 15 m
1 m to m
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]
6.12 Absolute Encoders
ON
ON
Power upplied.
Incremental pul e
Incremental pul e
Multiturn data + po ition
within one rotation
T *
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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