YASKAWA E-7-Series SGD7S - Calculating the Current Position in Machine Coordinates

6.12 Absolute Encoders
6.12.6 Calculating the Current Position in Machine Coordinates
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Application Functions
Data Format of PAO Signal
As shown below, the message format consists of eight characters: “P,” the sign, the 5-digit multiturn
data, and “CR” (which indicates the end of the message).
Data Format of PSO Signal
As shown below, the message format for a Rotary Servomotor consists of 17 characters: “P,” the sign,
the 5-digit multiturn data, a comma delineator, the 8-digit position within one rotation, and “CR” (which
indicates the end of the message).
6.12.6 Calculating the Current Position in Machine Coordinates
When you reset the absolute encoder, the reset position becomes the reference position.
The host controller reads the coordinate Ps from the origin of the encoder coordinate system. The host
controller must record the value of coordinate Ps.
This section describes the reference position in the machine coordinate system.
The method to calculate the coordinate value of the present position from the origin of the machine
coordinate system is given below.
Item PAO signal PSO signal
Synchronization Method Start-stop synchronization (ASYNC)
Baud Rate 9,600 bps
Start Bits 1 bit
Stop Bits 1 bit
Parity Even
Character Code ASCII, 7 bits
Data Format Refer to Data Format of PAO Signal. Refer to Data Format of PSO Signal.
Data Output Period
Using the SEN Signal
Each time the SEN signal is input after the
control power supply is turned ON
40 ms
Not Using the SEN Signal
Only once after the control power supply is
turned ON
P
+ or −
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
CR
Multiturn
data (5 digits)
S
P
+ or −
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
,
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
CR
Multiturn
data (5 digits)
Position within
one rotation
(8 digits)
S_Analog