Output Ports For The Position Data From The Absolute Linear Encoder - YASKAWA SGD7S series Product Manual

6.13 Absolute Linear Encoders

6.13.3 Output Ports for the Position Data from the Absolute Linear Encoder

6.13.3 Output Ports for the Position Data from the Absolute
Linear Encoder
You can read the position data of the absolute linear encoder from the PAO, PBO, and PCO (Encoder
Divided Pulse Output) signals and the PSO (Absolute Encoder Position Output) signal.
The output method and timing for the position data of the absolute linear encoder are different in each
case.
Encoder Divided Pulse Output (PAO, PBO, and PCO) Ports
A conceptual diagram of the connections of the PAO, PBO, and PCO (Encoder Divided Pulse Output)
ports to the host controller is provided below.
ENC
Signal
PAO
PBO
PCO
The PAO (Encoder Divided Pulse Output) signal outputs the position data from the absolute lin-
ear encoder after the control power supply is turned ON. The SENS_ON (Turn ON Encoder)
command is used to output the position data from the absolute linear encoder.
The position data of the absolute linear encoder is the current stop position. The absolute linear
encoder outputs the upper 16-bit data (with sign) according to the specified protocol. The absolute
encoder outputs the lower 20-bit data as a pulse train. It then outputs pulses as an incremental linear
encoder (incremental operation status).
The host controller must have a reception circuit (e.g., UART) for the position data from the absolute
linear encoder. The pulse counter at the host controller will not count pulses when the upper 16-bit
data (with sign) (communications message) is input because only phase A is input.
The output circuits for the PAO, PBO, and PCO signals use line drivers. Refer to the following section
for details on line drivers.
4.5.4
PSO (Absolute Encoder Position Output) Port
The PSO (Absolute Encoder Position Output) signal periodically outputs the position data from the
absolute encoder according to the specified protocol after outputting the position data from the
absolute encoder with the PAO and PBO signals has been completed. There are two methods that you
can use to output the position data from the absolute encoder: Using the SEN (Absolute Data Request)
signal and not using the SEN signal.
The host controller must have a reception circuit (e.g., UART) for the position data from the absolute
encoder.
The output circuit for the PSO signal uses a line driver. Refer to the following section for details on line
drivers.
4.5.4
6-88
ERVOPACK
CN2
erial
data
Conver ion of
erial data to
pul e
Status
First signal
During normal operation
First signal
During normal operation
Always
on page 4-43
I/O Circuits
on page 4-43
I/O Circuits
Ho t controller
CN1
EN
PAO
Dividing
PBO
circuit
(Pn281)
PCO
Signal Contents
When Using an Absolute Linear Encoder
Upper 16-bit data (with sign)
Lower 20-bit data (pulse train)
Incremental pulses
Lower 20-bit data (pulse train)
Incremental pulses
Origin pulse