Yaskawa FSP Amplifier - Manual (Page 152)

FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions
5-85
The final absolute data P
M
can be found by using the following formulas:
Forward rotation
mode: P
E
= M x R + P
O
P
M
= P
E
– P
S
Reverse rotation
mode:
(Pn0000.0 = 1)
P
E
= -(M x R) + P
O
P
M
= P
E
– P
S
Where: P
E
= The current value read by the encoder.
M = The multi-turn data (rotation count data).
P
O
= The number of initial incremental pulses.
P
S
= The number of initial incremental pulses read at setup.
(This is saved and controlled by the host controller).
P
M
= The current value required for the user’s system.
R = The number of pulses per encoder revolution.
(Pulse count after dividing by the value of Pn201)
„ Absolute Encoder Transmission Sequence
1. Set the SEN signal at high level.
2. After 100 ms, set the system to serial data reception-waiting-state.
Clear the incremental pulse up/down counter to zero.
3. Receive eight bytes of serial data.
4. The system enters a normal incremental operation state approximately
50 ms after the last serial data is received.