YASKAWA SGD7S-****20A Series - Reading the Position Data from the Absolute Encoder

6.8 Absolute Encoders
6.8.4 Reading the Position Data from the Absolute Encoder
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6.8.4 Reading the Position Data from the Absolute Encoder
The SENS_ON (Turn ON Sensor) command is used to read the position data from the absolute
encoder.
The sequence for using the SENS_ON command to read the position data from the absolute encoder
of a Rotary Servomotor is given below.
The multiturn data is sent according to the transmission specifications.
The position of the absolute encoder within one rotation is output as a pulse train.
*1.
When you turn OFF the control power supply, input the SENS_OFF command.
*2.
The pulse output time T for the position of the absolute encoder within one rotation depends on the setting of Pn212
(Number of Encoder Output Pulses). Refer to the following table.
Setting of Pn212
Calculation of the Pulse Output Speed
for the Position of the Absolute
Encoder within One Rotation
Calculation of the Pulse Output Time T
for the Position of the Absolute
Encoder within One Rotation
16 to 16,384 680 × Pn212/16,384 [kpps] 25 ms max.
16,386 to 32,768 680 × Pn212/32,768 [kpps] 50 ms max.
32,722 to 65,536 680 × Pn212/65,536 [kpps] 100 ms max.
65,544 to 131,072 680 × Pn212/131,072 [kpps] 200 ms max.
131,088 to 262,144 680 × Pn212/262,144 [kpps] 400 ms max.
262,176 to 524,288 680 × Pn212/524,288 [kpps] 800 ms max.
524,352 to 1,048,576 680 × Pn212/1,048,576 [kpps] 1,600 ms max.
1,048,704 to 2,097,152 680 × Pn212/2,097,152 [kpps] 3,200 ms max.
2,097,408 to 4,194,304 680 × Pn212/4194304 [kpps] 6,400 ms max.
Power supplied.
Main circuit
power supply
Control power
supply
*1
/S-RDY signal
ALM signal
SV_ON command
SENS_ON
command
*1
PAO signal
PBO signal
Motor power status
Multiturn
data
Incremental pulses
Incremental pulses
ON
OFF
OFF
ON
No alarm
ONOFF
ONOFF
Power not supplied.
ONOFF
Undened.
Undened.
5 s max. 50 ms
Approx. 15 ms
1 ms to 3 ms
T
*2
90 ms
typ.
Position within one rotation
(incremental pulses)
Position within one rotation
(incremental pulses)