YASKAWA Sigma-V Series User Manual page 352

9 Fully-closed Loop Control
9.3.4 External Absolute Encoder Data Reception Sequence
(2) Absolute Data Transmission Sequence and Contents
1. Set the SEN signal at ON (high level).
2. After 100 ms, set the system to serial data reception-waiting-state. Clear the incremental pulse up/down
counter to zero.
3. Receive eight characters of serial data.
4. The system enters a normal incremental operation state about 400 ms after the last serial data is received.
SEN signal
PAO
PBO
Serial data:
The current position pulses divided by Pn281 are output in serial data.
One serial data is a value equivalent to 1048576 pulses.
Initial incremental pulses:
The current position pulses divided by Pn281 are output in pulses. The number of output pulses is between 0
to 1048576, and the output speed is approximately 1.48 µs per pulse.
Coordinate
value
Values of
Mo and Ms
Final absolute data P
P = M
E
P = P
M
Signal
Note: If host controller receives the data from the external absolute encoder, do not perform counter reset using the output
of PCO signal.
9-18
Undefined
Undefined
50 ms
Reference position (at setup)
0 1
0
× R
M P
S
is calculated by following formula.
M
× R + P
O O
× R – P
– M
E S S
P
Current position of external encoder
E
M
Serial data of current position
O
P
Number of initial incremental pulses of current position
O
M
Serial data of reference position
S
P
Number of initial incremental pulses of reference position
S
P
Current value required for the user's system
M
R 1048576
Serial data
Initial
incremental
pulses
(Phase A)
Initial
incremental
pulses
(Phase B) (Phase B)
60 ms min.
90 ms typ.
About 15 ms 400 ms max.
1 to 3 ms
2
1 (M ) 2
S
× R
M
o
P
E
P
S M
Meaning
Analog
Incremental pulses
(Phase A)
Incremental pulses
Rotation
Current position
3
3 (Mo)
P
O