YASKAWA SGMSV - Page 131

4.7 Absolute Encoders
4-45
4
Operation
Final absolute data P
M
is calculated by following formula.
P
E
=M× R+P
O
P
S
=M
S
× R+P
S
’
P
M
=P
E
-P
S
Note: The following formula applies in reverse mode. (Pn000.0 = 1)
P
E
= -M × R + P
O
P
S
= M
S
× R + P
S
'
P
M
= P
E
- P
S
Coordinate
value
Value of M
Reference position
(at setup)
Current position
-1 0 +1 +2 +3
+2+1-1 ±0
P
E
P M P S
P O
M × R
Signal Meaning
P
E
Current value read by encoder
M Rotational serial data
P
O
Number of initial incremental pulses
P
S
Absolute data read at setup (This is saved and controlled by the host controller.)
M
S
Rotational serial data read at setup
P
S
’
Number of initial incremental pulses read at setup
P
M
Current value required for the user’s system
R Number of pulses per encoder revolution (pulse count after dividing, value of Pn212)