Disable Operation
Controlword
(6040h)
Statusword
(6041h)
Enable Operation
S3: Switched on
S4: Operation
Power supplied.
Motor power status
Power not supplied.
Main circuit
power supply
Control power
supply
/S-RDY signal
ALM signal
PAO signal
PBO signal
Multiturn
data
Incremental pulses
Incremental pulses
ON
OFF
OFF
ON
No alarm
ON
OFF
Undefined.
Undefined.
5 s max.
50 ms
Approx. 15 ms
1 ms to 3 ms
T*
90 ms
typ.
Position within one rotation
(incremental pulses)
Position within one rotation
(incremental pulses)
Fig. 168: Sequence to read the position data from the absolute encoder
* The pulse output time T for the position of the absolute encoder within one rotation
depends on the setting of Pn212 (Number of Encoder Output Pulses). Refer to the fol-
lowing table.
Setting of Pn212 Calculation of the Pulse
Output Speed for the
Position of the Absolute
Encoder within One Rota-
tion
Calculation of the Pulse
Output Time T for the
Position of the Absolute
Encoder within One Rota-
tion
16 to 16,384 680 × Pn212/16,384 [kpps] 25 ms max.
16,386 to 32,768 680 × Pn212/32,768 [kpps] 50 ms max.
32,722 to 65,536 680 × Pn212/65,536 [kpps] 100 ms max.
65,544 to 131,072 680 × Pn212/131,072
[kpps]
200 ms max.
131,088 to 262,144 680 × Pn212/262,144
[kpps]
400 ms max.
262,176 to 524,288 680 × Pn212/524,288
[kpps]
800 ms max.
524,352 to 1,048,576 680 × Pn212/1,048,576
[kpps]
1,600 ms max.
1,048,704 to 2,097,152 680 × Pn212/2,097,152
[kpps]
3,200 ms max.
2,097,408 to 4,194,304 680 × Pn212/4,194,304
[kpps]
6,400 ms max.
Sigma-7 Series SERVOPACKs
Application Functions
Absolute Encoders > Reading the Position Data from the Absolute Encoder
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 231
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