Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors MECHATROLINK-III Communications Reference - Manual (Page 128)

4.7 Absolute Encoders
4-43
4
Ope
rat
ion
(2) Absolute Data Reception Sequence
1. Send the Turn Sensor ON (SENS_ON) command from the host controller.
2. After 100 ms, the system is set to rotational serial data reception standby and the incremental pulse up/
down counter is cleared to zero.
3. Eight characters of rotational serial data is received.
4. The system enters a normal incremental operation state about 400 ms after the last rotational serial data is
received.
Note: The output pulses are phase-B advanced if the servomotor is turning forward regardless of the setting in Pn000.0.
Rotational serial data:
Indicates how many turns the motor shaft has made from the reference position, which was the position at
setup.
Initial incremental pulses:
Initial incremental pulses which provide absolute data are the number of pulses required to rotate the motor
shaft from the servomotor origin to the present position.
Just as with normal incremental pulses, these pulses are divided by the dividing circuit inside the SERVO-
PACK and then output.
The initial incremental pulse speed depends on the setting of the encoder output pulses (Pn212). Use the fol-
lowing formula to obtain the initial incremental pulse speed.
Setting of the Encoder Output Pulses
(Pn212)
Formula of the Initial Incremental Pulse Speed
16 to 16384
16386 to 32768
32772 to 65536
65544 to 131072
131088 to 262144
PAO
PBO
SENS_ON
(Turn Sensor ON)
Incremental pulses
Incremental pulses Undefined
Undefined
(Phase A) (Phase A)
(Phase B) (Phase B)
Rotational
serial data
400 ms max. 50 ms
1 to 3 ms
Approx. 15 ms
90 ms typ.
60 ms min.
Initial
incremental
pulses
Initial
incremental
pulses
64
680 × Pn212
16384
[kpps]
680 × Pn212
32768
[kpps]
680 × Pn212
65536
[kpps]
680 × Pn212
131072
[kpps]
680 × Pn212
262144
[kpps]