YASKAWA Sigma-7 SGD7S Series - 7.10.2 Connecting an Absolute Linear Encoder; 7.10.3 Structure of the Position Data of the Absolute Linear Encoder; 7.10.4 Output Ports for the Position Data from the Absolute Linear Encoder

Parameter Settings When Using an Absolute Linear Encoder
Parameter Meaning When Enabled Classification
Pn002
n.0
(default
setting)
Use the encoder as an
absolute linear encoder.
After restart Setup
n.1
Use the encoder as an
incremental linear
encoder.
7.10.2 Connecting an Absolute Linear Encoder
You can get the position data from the absolute linear encoder with PROFINET communi-
cations. Therefore, it is not necessary to wire the PAO, PBO, and PCO (Encoder Divided
Pulse Output) signals.
If they need to be wired, refer to the following section.
Ä Chap. 5.5.3 ‘Wiring the SERVOPACK to the Encoder’ page 108
Ä Chap. 5.6.3 ‘I/O Signal Wiring Examples’ page 120
7.10.3 Structure of the Position Data of the Absolute Linear Encoder
The position data of the absolute linear encoder is the distance (number of pulses) from
the origin of the absolute linear encoder.
The position data is signed 36-bit data.
35
20
19 0
±
Upper 16 bits (with sign)
Lower 20 bits
Fig. 179: Structure of the Position Data of the Absolute Linear Encoder
When the SERVOPACK sends the position data, it sends the upper 16-bit data (with sign)
separately from the lower 20-bit data.
7.10.4 Output Ports for the Position Data from the Absolute Linear Encoder
You can read the position data of the absolute linear encoder from the PAO, PBO, and
PCO (Encoder Divided Pulse Output) signals.
The output method and timing for the position data of the absolute linear encoder are dif-
ferent in each case.
A conceptual diagram of the connections of the PAO, PBO, and PCO (Encoder Divided
Pulse Output) ports to the host controller is provided below.
Serial
data
ENC
CN1
Host controller
SERVOPACK
PAO
PBO
PCO
CN2
Conversion of
serial data to
pulses
Dividing
circuit
(Pn281)
Fig. 180: Output Ports for the Position Data from the Absolute Linear Encoder
Sigma-7 Series SERVOPACKs
Application Functions
Absolute Linear Encoders > Output Ports for the Position Data from the Absolute Linear Encoder
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