YASKAWA SGDA series User Manual

APPLICATIONS OF Σ-SERIES PRODUCTS
3.8.5 Using an Absolute Encodercont.
152
b) 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 posi-
tion at the maximum speed of 4,900 r/min.
Coordinate data
Reference position
(setup)
Current position
Value M
Absolute data P
M
can be determined using the following formula.
PE
Current value read by encoder
P
E
=
M
¢
R+P
O
M
Serial data (rotation count data)
P
E
=
M
¢
R+P
O
P
M
=P
E
− P
S
PO
Number of initial incremental pulses
(Normally, this is a negative value)
PS
Number of initial incremental pulses read at setup
PM
Current value required for the customer system
R
Number of pulses per encoder revolution
(pulse count after dividing, value of Cn-0A)
c) Absolute Data Transmitting Sequence
For speed/torque control (SGDA-
jjj
S).
(3) Set the SEN signal at
high level.
(4) After 100 ms, set the
system to serial data
reception-waiting-state.
Clear the incremental
pulse up/down counter
to zero.
(5) Receive eight bytes of
serial data.
(6) The system enters a
normal incremental op-
eration state approximately 50 ms after the last serial data is received.
3
SGDA- S
Speed/Torque
Undefined
Rotation count
serial data
Initial incremental
pulse
Incremental
pulse
(Phase A) (Phase A)
(Phase B) (Phase B)
Incremental
pulse
Rotation count
serial data
Undefined
Undefined
Initial
incremental
pulse
1to
3ms
10 to
15 ms
Approx.
23 ms

YASKAWA SGDA series Specifications

General

Brand	YASKAWA
Model	SGDA series
Category	Servo Drives
Language	English