Absolute Encoder Reception Sequence - YASKAWA SGDH User Manual

8 Operation

8.4.6 Absolute Encoder Reception Sequence

8.4.6 Absolute Encoder Reception Sequence
The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to host
controller is shown below.
(1) Outline of Absolute Signals
The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the
PAO, PBO, and PCO signals as shown below.
PS
PG
Signal Name
PAO
PBO
PCO
PSO
(2) Absolute Encoder Transmission Sequence and Contents
1. Set the SEN signal at 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 bytes of serial data.
4. The system enters a normal incremental operation state about 25 ms after the last serial data is received.
SEN signal
PAO
PBO
PSO
• Serial data: Indicates how many turns the motor shaft has made from the reference position (position spec-
ified at setup).
• Initial incremental pulse: Outputs pulses at the same pulse rate as when the motor shaft rotates from the
origin to the current position at about 1250 min
ting).
SERVOPACK
Dividing
Conversion
(Pn201)
from serial data
into pulse
Data
conversion
Status
At initial status
At normal status
At initial status
At normal status
Always
Always
Rotation count serial data
Undefined
Initial incre-
Undefined
mental pulse
Undefined
60ms min.
10ms
90ms typ.
max.
260 ms max.
50ms
Approx.15ms
PAO
circuit
PBO
PCO
PSO
Meaning
Serial data
Initial incremental pulse
Incremental pulse
Initial incremental pulse
Incremental pulse
Zero point pulse
Rotation count serial data
Initial incre-
mental pulse
(Phase A) (Phase A)
Initial incre-
mental pulse
(Phase B) (Phase B)
1 to 3 ms
25 ms max.
-1
(for 17 bits when the dividing pulse is at the factory set-
8-32
Incremental pulse
Incremental pulse
Rotation count serial data