Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors MECHATROLINK-III Communications Reference - Manual (Page 126)

4 Operation
4.7.1 Absolute Data Request (SENS ON Command)
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4.7 Absolute Linear Scales
If using an absolute linear scale, a system to detect the absolute position can be designed for use with the host
controller. As a result, an operation can be performed without a zero point return operation immediately after
the power is turned ON.
For details on how to set up the absolute linear scale, refer to 5 Trial Operation (Checking Linear Servomotor
Operation) in the Σ -V Series User’s Manual, Setup, Linear Motor (No.: SIEP S800000 44).
Set Pn002.2 to 0 (factory setting) to use the absolute linear scale.
4.7.1 Absolute Data Request (SENS ON Command)
The Turn Sensor ON command (SENS_ON) must be sent to obtain absolute data as an output from the SER-
VOPACK.
The SENS_ON command is sent at the following timing.
∗ Send the SENS_OFF command to turn OFF the control power supply.
Parameter Meaning
When
Enabled
Classification
Pn002
n. 0
[Factory setting]
Uses the absolute linear scale as an absolute linear
scale.
After restart Setup
n. 1
Uses the absolute linear scale as an incremental linear
scale.
SERVOPACK control
power supply
5 seconds max.
ON
OFF
OFF
ON (Normal status)
OFF
OFF
ON
50 ms
Serial data
(Phase A)
(Phase B) (Phase B)
Approx.
15 ms 400 ms max.
1 to 3 ms
60 ms max.
(90 ms typ.)
The servomotor will not be turned ON even if the SV_ON command is received during this interval.
ALM signal OFF
(Alarm status)
SENS_ON
(Turn Sensor ON)
PAO
PBO
Servomotor power
Undefined
Undefined
(Phase A)
OFF
OFF
OFF
OFF
*
ON
Incremental
pulses
Incremental
pulses
Initial incremental
pulses
Initial incremental
pulses
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