Yaskawa Sigma II Indexer - Manual (Page 100)

Sigma II Indexer User’s Manual Absolute Encoders
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Note: 1. The absolute position data within one revolution is the value before dividing.
2. Absolute position data increases during forward rotation. (Not valid in reverse rotation mode).
Incremental Pulses and Origin Pulses
Just as with normal incremental pulses, initial incremental pulses which provide
absolute data are first divided by the frequency divider inside the Servo Amplifier
and then output.
Setting the Pulse Dividing Ratio
Use the following parameter to set the pulse dividing ratio.
This parameter sets the number of output pulses for PG output signals (PAO, /PAO,
PBO, /PBO).
Pulses from the motor encoder (PG) are divided by the preset number before being
output.
Data Transfer Method
Start–stop Synchronization
(ASYNC)
Baud rate 9600 bps
Start bits 1 bit
Stop bits 1 bit
Parity Even
Character code ASCII 7–bit code
Data format 13 characters, as shown below.
Parameter Signal
Setting
(p/rev)
Default
Pn201 PG Divider Setting Range: 16 to 16384 16384
0 0 0 0 0 1 0 1 0
Data
Start bit Even parity
1
Stop bit
“P” “+” or “-” “0” to “9” “CR”
Forward rotation
Phase A
Reverse rotation
t t
Phase B
Phase C
Phase A
Phase B
Phase C