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5.9 Absolute Linear Scales
5-73
(2) Absolute Data Reception Sequence
1. Set the SEN signal at ON (high level).
2. After 100 ms, the system is set to serial data recep
tion standby and the incremental pulse up/down counter
is cleared to zero.
3. Eight characters of serial data is received.
4. The system enters a normal incremental
operation state about 400 ms after the last serial data is received.
Note: The output pulses are phase-B advanced if the servomotor is moving forward regardless of the setting in Pn000.0.
Serial data:
Outputs the current position as serial data after di
viding using the value set at Pn281.
Unit: 1048576 pulse/serial data "1"
Initial incremental pulses:
Outputs the current position as pulse data after dividing using the value set at Pn281.
Pulse range: 0 to 1048576 pulse
Output pulse rate: Approx. 0.37 s
Final absolute data P
M
is calculated by following formula.
P
E
=M
O
R+P
O
P
M
=P
E
M
S
RP
S
Note: In the case of reverse direction mode (Pn000.0 = 1), use the above-mentioned formula.
Note: When processing the absolute linear scale reception sequence, do not perform counter reset using PCO output.
PAO
PBO
SEN signal
Incremental pulses
Incremental pulses
Undefined
Undefined
(Phase A)
(Phase A)
(Phase B)
(Phase B)
Serial data
400 ms max.
50 ms
1 to 3 ms
Approx. 15 ms
90 ms typ.
60 ms min.
Initial
incremental
pulses
Initial
incremental
pulses
Current Position
Reference Position
Coordinate
Value
M
O
M
S
Value
M
S
× R
M
O
× R
0
01 2
12 3
(M
s
)
3
(M
O
)
P
o
P
S
P
E
P
M
Signal Meaning
P
E
Current value of linear scale
M
O
Serial data value at current position
P
O
Initial incremental pulses at current position
M
S
Serial data value at reference position
P
S
Initial incremental pulses at reference position
P
M
Current value required for the user’s system.
R 1048576
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