Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 342)

9 Fully-closed Loop Control
9.3.4 External Absolute Encoder Data Reception Sequence
9-16
(2) Related Parameter
Note: The maximum setting for the encoder output resolution is 4096. When the number of divisions on the external
encoder is more than 4096, the data shown in 9.3.5 External Encoder Sine Wave Pitch and Number of Divisions is
no longer applicable.
(3) Phase-C Pulse Output Specifications
The pulse width of phase C (origin pulse) varies according to the encoder output resolution (Pn281), and will
become the same as the pulse width of phase A.
Output timing for the phase-C pulse is one of the following.
• In synchronization with the phase-A rising edge
• In synchronization with the phase-A falling edge
• In synchronization with the phase-B rising edge
• In synchronization with the phase-B falling edge
9.3.4 External Absolute Encoder Data Reception Sequence
The sequence in which the SERVOPACK receives outputs from the external absolute encoder and transmits
them to host controller in fully-closed loop control is shown below.
(1) Outline of Absolute Signals
The serial data, pulses, etc., of the external absolute encoder that are output from the SERVOPACK are output
from the PAO, PBO, and PCO signals as shown below.
Note: When host controller receives the data from the external absolute encoder, do not perform counter reset using the
output of PCO signal.
Pn281
Encoder Output Resolution
Classifica-
tion
Setting Range Setting Unit Factory Setting When Enabled
1 to 4096 1 edge/pitch 20 After restart Setup
Position
Phase C of the rotational external absolute encoder is output only at the encoder’s first
point of origin after the power is supplied. Phase C of the external encoder is not output
every rotation.
Signal Name Status Contents
PAO
At initialization
Serial data
Initial incremental pulses
Normal Operations Incremental pulses
PBO
At initialization Initial incremental pulses
Normal Operations Incremental pulses
PCO Always Origin pulses
Serial
data External
encoder
Serial data →
pulse conversion
Host
controller
SERVOPACK with Fully-closed Module
CN31 CN1
SEN
PAO
PBO
PCO
Dividing
circuit
(Pn281)
45