YASKAWA SGMPS User Manual

9 Fully-closed Loop Control
9.2.5 Absolute External Encoder Reception Sequence
9-14
(2) Related Parameter
(3) Phase-C Pulse Output Specifications
The pulse width of phase-C (origin pulse) varies according to the encoder output resolution (Pn281), and will
become the same as the pulse width of phase-A.
Output timing for the phase-C pulse is in one of the following patterns.
• In synchronization with the phase-A rising edge
• In synchronization with the phase-A falling edge
• In synchronization with the phase-B rising edge
• In synchronization with the phase-B falling edge
9.2.5 Absolute External Encoder Reception Sequence
The sequence in which the SERVOPACK receives outputs from the absolute external encoder and transmits
them to host controller is shown below.
(1) Outline of Absolute Signals
The serial data, pulses, etc., of the absolute external encoder that are output from the SERVOPACK are output
from the PAO, PBO, and PCO signals as shown below.
Pn281
Encoder Output Pulses
Classifica-
tion
Setting Range Setting Unit Factory Setting When Enabled
1 to 4096 1 P/pitch 20 After restart
Setup
Position
Signal Name Status Contents
PAO
At initialization
Serial data
Initial incremental pulses
Normal time Incremental pulses
PBO
At initialization Initial incremental pulses
Normal time Incremental pulses
PCO Always Origin pulses
CN31
Serial
data
External
encoder
CN1
Serial data→
pulse conversion
Host
controller
SERVOPACK with option module for fully-closed loop control
SEN
PAO
PBO
PCO
Dividing
circuit
(Pn212)

YASKAWA SGMPS Specifications

General

Brand	YASKAWA
Model	SGMPS
Category	Servo Drives
Language	English