YASKAWA SGD7S-xxxDA0 series Product Manual

Contents

7.9 Absolute Linear Encoders7.9.3 Output Ports for the Position Data from the Absolute Linear Encoder7-417 Application Functions7.9.3 Output Ports for the Position Data from the AbsoluteLinear EncoderYou can read the position data of the absolute linear encoder from the PAO, PBO, and PCO (EncoderDivided Pulse Output) signals.The output method and timing for the position data of the absolute linear encoder are different in eachcase.A conceptual diagram of the connections of the PAO, PBO, and PCO (Encoder Divided Pulse Output)ports to the host controller is provided below.The PAO (Encoder Divided Pulse Output) signal outputs the position data from the absolute linearencoder after the control power supply is turned ON.The position data of the absolute linear encoder is the current stop position. The absolute linearencoder outputs the upper 16-bit data (with sign) according to the specified protocol. The absoluteencoder outputs the lower 20-bit data as a pulse train. It then outputs pulses as an incremental linearencoder (incremental operation status).The host controller must have a reception circuit (e.g., UART) for the position data from the absolutelinear encoder. The pulse counter at the host controller will not count pulses when the upper 16-bitdata (with sign) (communications message) is input because only phase A is input.The output circuits for the PAO, PBO, and PCO signals use line drivers. Refer to the following sectionfor details on line drivers.4.5.4 I/O Circuits on page 4-33Signal Status Signal ContentsWhen Using an Absolute Linear EncoderPAO First signal Upper 16-bit data (with sign)Lower 20-bit data (pulse train)During normal operation Incremental pulsesPBO First signal Lower 20-bit data (pulse train)During normal operation Incremental pulsesPCO Always Origin pulseSerialdataENCCN1Host controllerSERVOPACKPAOPBOPCOCN2Conversion ofserial data topulsesDividingcircuit(Pn281)