Alarm Output From Output Ports For The Position Data From The Absolute Encoder - YASKAWA SGD7S-****20A Series Product Manual

6.8 Absolute Encoders

6.8.7 Alarm Output from Output Ports for the Position Data from the Absolute Encoder

Symbol
P
E
M
P
O
P
S
M
S
P '
S
P
M
R
Calculations for Reverse Rotation Mode (Pn000 = n.1)
Information
6.8.7 Alarm Output from Output Ports for the Position Data
from the Absolute Encoder
Any alarm detected by the SERVOPACK is transmitted as alarm information to the host control-
ler with the PAO (Encoder Divided Pulse Output) signal when the SENS_ON (Turn ON Sensor)
command turns OFF.
ALM ignal
Motor power
tatu
Main circuit
power upply
Control power
upply
EN _ON
command
PAO ignal
The data format of the alarm information is shown below.
A
L
M
0 to 9
0 to 9
.
CR
6-38
Meaning
Position data for the current position of the
absolute encoder
Current position of the multiturn data of the
absolute encoder
Position of the current position within one rotation
Position data of the absolute encoder when
absolute encoder was reset
Multiturn data of the absolute encoder when
absolute encoder was reset
Position of the absolute encoder within one
rotation when absolute encoder was reset
Current position in machine coordinate system
Number of encoder pulses per revolution
1. If you are using a Rotary Servomotor, you must reset the absolute encoder. Refer to the fol-
lowing section for information on resetting the absolute encoder.
5.16
Resetting the Absolute Encoder
2. You can set the origin to a different position from the reset position. Refer to the following sec-
tion for information on the origin position offset.
5.17
Setting the Origin of the Absolute Encoder
ervo ON
(Power upplied.)
ON
ON
ON
Upper two digit
of alarm code
Encoder Divided Pulse
Output (PAO and PBO)
Encoder output pulses
(encoder pulses x setting
Encoder output pulses
(encoder pulses x setting
Encoder output pulses
(encoder pulses x setting
Setting of Pn212
PM = PE - PS
PE = -M × R + PO
PS = MS × R + PS
on page 5-48
on page 5-51
ervo OFF (Power not upplied.)
OFF
OFF
Alarm information
Setting or Unit
Absolute Encoder
Position Output (PSO)
Signals Signal
Encoder pulses
of Pn212)
−
Encoder pulses
of Pn212)
−
Encoder pulses
of Pn212)
Encoder resolution
PM = PE - PS
PE = -M × R - PO
PS = MS × R - PS'
−
−