Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

8 Operation8.4.6 Absolute Encoder Reception Sequence8.4.6 Absolute Encoder Reception SequenceThe sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to hostcontroller is shown below.(1) Outline of Absolute SignalsThe 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.SERVOPACKPGPSConversionfrom serial datainto pulseDividingcircuit(Pn201)PAOPBOPCODataconversionPSOSignal Name Status MeaningPAO At initial status Serial dataInitial incremental pulseAt normal status Incremental pulsePBO At initial status Initial incremental pulseAt normal status Incremental pulsePCO Always Zero point pulsePSO Always Rotation count serial data(2) Absolute Encoder Transmission Sequence and Contents1. Set the SEN signal at high level.2. After 100 ms, set the system to serial data reception-waiting-state. Clear the incremental pulse up/downcounter to zero.3. Receive eight bytes of serial data.4. The system enters a normal incremental operation state about 400 ms after the last serial data is received.SEN signalPAOPBOPSOUndefinedUndefinedUndefined10ms 60ms min.max. 90ms typ.260 ms max.50msRotation count serial dataInitial incrementalpulseApprox.15msInitial incrementalpulse Incremental pulse(Phase A) (Phase A)Initial incrementalpulseIncremental pulse(Phase B) (Phase B)1 to 3 ms25 ms max.Rotation count serial data• Serial data: Indicates how many turns the motor shaft has made from the reference position (position specifiedat setup).• Initial incremental pulse: Outputs pulses at the same pulse rate as when the motor shaft rotates from theorigin to the current position at about 1250 min -1 (for 17 bits when the dividing pulse is at the factory setting).8-32