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Sigma II User's Manual
5.7 Absolute Encoders
If a motor with an absolute encoder is used, a system to detect the absolute position can be
formed in the host controller. Consequently, automatic operation can be performed with-
out zero return operation immediately after the power is turned ON.
Motor
SGMoH–ooo1o···With 16-bit absolute encoder
SGMoH–ooo2o···With 17-bit absolute encoder
Absolute encoder
5.7.1
Interface Circuit
The following diagram shows the standard connections for an absolute encoder
mounted to a servomotor.
Host controller
7406
Battery
Serial interface
circuit
UP
Up/down
counter
DOWN
Clear
Serial interface
circuit
P: Indicates twisted pair wires
Applicable line drivers:
Terminating resistance R:
Always detects
absolute position.
+5V
SEN
OSEN
0V
BAT
+
BATO
-
PAO
Line driver
/PAO
R
PA
PBO
Edge
/PBO
R
detection
PB
PCO
/PCO
R
PC
PSO
/PSO
R
PS
SG
0V
Chapter 5: Parameter Settings and Functions
Servo amplifier
CN1
CN2
4
1
P
2
2
21
3
P
22
4
33
P
34
35
5
P
36
6
19
P
20
48
P
49
1
Connector shell
SN75175 or MC3486 by TI.
220 to 470Ω
5-90
Origin return operation
PG5V
H (1)
P
PG0V
G (2)
BAT (+)
T (3)
BAT (-)
P
S (4)
PS
C (5)
/PS
P
D (6)
J
Shielded wire (shell)
PG
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