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Sigma II User's Manual
Signal
Initial State
PAO
Normal State
Initial State
PBO
PCO
Normal State
PSO
n
Contents of Absolute Data
•
Serial data: Indicates how many turns the motor shaft has made from the refer-
ence position (position specified at setup).
•
Initial incremental pulse: Outputs pulses at the same pulse rate as when the
motor shaft rotates from the home position to the current position at approxi-
mately 2500rpm (for 16 bits when the dividing pulse is at the default setting).
Coordinate value
Value M
The final absolute data P
Forward rotation mode:
n
Absolute Encoder Transmission Sequence
1. Set the SEN signal at high level.
2. After 100ms, set the system to serial data reception-waiting-state. Clear the
Status
Reference position (setup)
-1
0
+0
+1
can be found by using the following formulae:
M
= M × R + P
P
E
O
− P
P
= P
M
E
S
Where: P
= The current value read by the encoder.
E
M = The multi-turn data (rotation count data).
P
= The number of initial incremental pulses.
O
P
= The number of initial incremental pulses read at setup.
S
(This is saved and controlled by the host controller).
P
= The current value required for the user's system.
M
R = The number of pulses per encoder revolution.
(Pulse count after dividing by the value of Pn201)
Chapter 5: Parameter Settings and Functions
Contents
Serial data
Initial incremental pulse
Incremental pulse
Initial incremental pulse
Incremental pulse
Home position pulse
Rotation count serial data
Current position
+1
+2
+2
M × R
PO
PE
PS
PM
Reverse rotation mode:
(Pn0000.0 = 1)
5-98
+3
+3
= − M × R + P
(
)
P
E
O
− R
P
= P
M
E
S
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