YASKAWA SGDV User Manual page 145

(2) Absolute Data Reception Sequence
1. Set the SEN signal at ON (closed).
2. After 100 ms, the system is set to rotational serial data reception standby and the incremental pulse up/
down counter is cleared to zero.
3. Eight characters of rotational serial data is received.
4. The system enters a normal incremental operation state about 400 ms after the last rotational serial data is
received.
SEN signal
OFF
Undefined
PAO
Undefined
PBO
Note: The output pulses are phase-B advanced if the servomotor is turning forward regardless of the setting in Pn000.0.
Rotational serial data:
Indicates how many turns the motor shaft has made from the reference position, which was the position at
setup.
Initial incremental pulses:
Initial incremental pulses which provide absolute data are the number of pulses required to rotate the motor
shaft from the servomotor origin to the present position.
Just as with normal incremental pulses, these pulses are divided by the dividing circuit inside the SERVO-
PACK and then output.
The initial incremental pulse speed depends on the setting of the encoder output pulses (Pn212). Use the fol-
lowing formula to obtain the initial incremental pulse speed.
Setting of the Encoder Output Pulses
(Pn212)
16 to 16384
16386 to 32768
ON
Rotational
serial data
60 ms min.
90 ms typ.
50 ms
Approx. 15 ms
Formula of the Initial Incremental Pulse Speed
680 × Pn212
16384
680 × Pn212
32768
Initial
Incremental pulses
incremental
pulses
(Phase A) (Phase A)
Initial
incremental
Incremental pulses
pulses
(Phase B) (Phase B)
400 ms max.
1 to 3 ms
[kpps]
[kpps]
5.9 Absolute Encoders
Analog
5-65
5