Reading The Position Data From The Absolute Encoder - YASKAWA SGD7S-****20A Series Product Manual

6.8 Absolute Encoders

6.8.4 Reading the Position Data from the Absolute Encoder

6.8.4

Reading the Position Data from the Absolute Encoder

The SENS_ON (Turn ON Sensor) command is used to read the position data from the absolute
encoder.
The sequence for using the SENS_ON command 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
V_ON command
Motor power tatu
EN _ON
command *1
PAO ignal
PBO ignal
*1. When you turn OFF the control power supply, input the SENS_OFF command.
*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
6-36
OFF
OFF
No alarm
OFF
OFF
OFF
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 × Pn212/4194304 [kpps]
ON
ON
Power not upplied.
ON
Multiturn
Po ition within one rotation
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
ON
ON
Power upplied.
Incremental pul e
Incremental pul e
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.