6.12 Absolute Encoders
6.12.4 Reading the Position Data from the Absolute Encoder
6-75
6.12.4
Reading the Position Data from the Absolute Encoder
There are two methods that you can use to read the position data from the absolute encoder:
Using the SEN (Absolute Data Request) signal and not using the SEN signal.
Setting the Parameter to Specify Using or Not Using the
SEN (Absolute Data Request) Signal
Using the SEN Signal to Read the Position Data from the Absolute
Encoder
•
When Using the Default I/O Signals (Pn50A = n.
0)
The setting of Pn515 = n.
X (SEN (Absolute Data Request Input) Signal Allocation) is ignored.
•
Allocating the SEN Signal to CN1-40 to CN1-46 on the I/O Signal Connector (Pn50A = n.
1)
Set Pn515 = n.
X (SEN (Absolute Data Request Input) Signal Allocation) to 0 to 6 or 9 to F.
Refer to the following section for the procedure to allocate input signals.
6.1.1
Input Signal Allocations
on page 6-4
Reading the Position Data from the Absolute Encoder without Using the
SEN Signal
Set Pn50A to n.
1 and set Pn515 to n.
7 (The signal is always active).
Refer to the following sections for details on the parameters.
14.1
List of Parameters
on page 14-2
Connecting the SEN (Absolute Data Request) Signal
Allocating the SEN Signal to CN1-4
Circuit Example When the SEN Signal Is Allocated to CN1-4
To use the default allocation of the SEN signal and to change the default settings of other I/O
signals (Pn50A = n.
1), set Pn515 to n.
8 (Active when 5 V is input to CN1-4).
Typ e Signal Connector Pin No. Signal Status Meaning
Input SEN CN1-4
OFF (open)
Does not request the position data from the absolute
encoder. (This is the status after the power supply is
turned ON.)
ON (closed) Requests the position data from the absolute encoder.
4.7 kΩ
SEN
4
CN1
SG
2
+5 V
0 V
100
Ω
0 V
0.1 μF
Host controller
SERVOPACK
High level:
Approx. 1 mA
Equivalent to 7406
We recommend a PNP transistor.
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