5.9 Absolute Encoders5-735 Operation5.9.5 Absolute Data Reception SequenceThe sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them tohost controller is shown below.(1) Outline of Absolute DataThe serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from thePAO, PBO, and PCO signals as shown below. Phase-C Output SpecificationsThe pulse width of phase C (origin pulse) changes depending on the encoder output pulse (Pn212), becomingthe same width as phase A.The output timing is one of the following.• Synchronized with the rising edge of phase A• Synchronized with the falling edge of phase A• Synchronized with the rising edge of phase B• Synchronized with the falling edge of phase BNote: When host controller receives the data of absolute encoder, do not perform counter reset using the output of PCOsignal.(2) Absolute Data Reception Sequence1. Set the SEN signal at ON (high level).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 isreceived.Note: The output pulses are phase-B advanced if the servomotor is turning forward regardless of the setting in Pn000.0.Signal Name Status ContentsPAO At initialization Rotational serial dataInitial incremental pulsesNormal Operations Incremental pulsesPBO At initialization Initial incremental pulsesNormal Operations Incremental pulsesPCO Always Origin pulsesENCCN1SENPAOPBOPCOCN2SerialdataSerial data→pulse conversionHostcontroller SERVOPACKDividingcircuit(Pn212)AnalogPAOPBOSEN signalIncremental pulsesIncremental pulsesUndefinedUndefined(Phase A) (Phase A)(Phase B) (Phase B)Rotationalserial data400 ms max.50 ms1 to 3 msApprox. 15 ms90 ms typ.60 ms min.InitialincrementalpulsesInitialincrementalpulsesAnalog
