YASKAWA E-7-Series SGD7S - Alarm Output from Output Ports for the Position Data from the Absolute Encoder

6.12 Absolute Encoders
6.12.7 Alarm Output from Output Ports for the Position Data from the Absolute Encoder
6-78
The current position P
M
in the machine coordinate system is calculated as follows:
P
M
= P
E
- P
S
P
E
= M
×
R + P
O
P
S
= M
S
×
R + P
S
’
Note: The following formulas apply in reverse rotation mode (Pn000 = n.1).
P
M
= P
E
- P
S
P
E
= -M × R + P
O
P
S
= M
S
× R + P
S
’
6.12.7 Alarm Output from Output Ports for the Position Data
from the Absolute Encoder
Any alarm detected by the SERVOPACK is transmitted as multiturn data to the host controller with the
PAO (Encoder Divided Pulse Output) signal when the SEN (Absolute Data Request) turns OFF.
Symbol Meaning
P
E
Position data for the current position of the absolute encoder
M Current position of the multiturn data of the absolute encoder
P
O
Position of the current position within one rotation
P
S
Position data of the absolute encoder when absolute encoder was reset
M
S
Multiturn data of the absolute encoder when absolute encoder was reset
P
S
’
Position of the absolute encoder within one rotation when absolute encoder was reset
P
M
Current position in machine coordinate system
R Pulses output per encoder rotation (value after dividing; setting of Pn212)
If you are using a Rotary Servomotor, you must reset the absolute encoder. Refer to the following
section for information on resetting the absolute encoder.
5.17
Resetting the Absolute Encoder
on page 5-51
Machine coordinate
Value of
multiturn data
-1 0 +1 +2 +3
-1
±0
+1 +2
Origin (reference position) Current position
M × R
P
E
PO
PS PM
S
Information
ALM signal
Motor power
status
Main circuit
power supply
Control power
supply
SEN signal
PAO signal
Servo ON
(Power supplied.)
Servo OFF (Power not supplied.)
ON OFF
ON
Alarm information
ON OFF
S_Analog