XtraDrive User Manual Chapter 5: Parameter Settings and Functions
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5.7.4. Absolute Encoder Reception Sequence
This section describes the sequence in which the servo amplifier
receives data from the absolute encoder and transmits it to the host
device. Be sure you understand this section when designing the host
device.
Outline of Absolute Signals
The absolute encoder’s outputs are PAO, PBO, PCO, and PSO signals
as shown below.
Signal Status Contents
Initial State
Serial data
Initial incremental pulse
PAO
Normal State Incremental pulse
Initial State Initial incremental pulse
PBO
Incremental pulse
PCO Home position pulse
PSO
Normal State
Rotation count serial data
Contents of Absolute Data
• Serial data: Indicates how many turns the motor shaft has made
from the reference 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 approximately 2500rpm (for 16 bits when the dividing
pulse is at the default setting).
Πσ Πµ
Πε
Πο
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