Geo Brick Drive User Manual
Pinouts and Software Setup
128
Yaskawa Sigma II 16-Bit Absolute Encoder
Y:$78B21
Y:$78B20
[23-12]
[11-0]
[23-20]
[19-4]
[3:0]
Multi-Turn Position
(16-bits)
Absolute Single Turn Data
(16-bits)
Yaskawa Data Registers
Channel 1 Y:$78B20 Channel 5 Y:$78B30
Channel 2 Y:$78B24 Channel 6 Y:$78B34
Channel 3 Y:$78B28 Channel 7 Y:$78B38
Channel 4 Y:$78B2C Channel 8 Y:$78B3C
The on-going servo and commutation position data is setup using a 2-line Entry in the Encoder
Conversion Table. The first line represents a Parallel Y-Word with no filtering ($2) from the
corresponding Yaskawa data register/channel. The second line represents the width of the data to be read
and bit location of the LSB of the data in the source word.
Channel 1, Yaskawa Sigma II 16-bit Absolute Encoder Setup Example
Encoder Conversion Table Setup (Motors 1-8)
The ECT automatic entry is equivalent to:
I8000=$278B20 ; Entry 1 Unfiltered parallel pos of location Y:$78B20
I8001=$020004 ; Width and Bias, total of 32-bits LSB starting at bit#4
I8002=$278B24 ; Entry 2 Unfiltered parallel pos of location Y:$78B24
I8003=$020004 ; Width and Bias, total of 32-bits LSB starting at bit#4
I8004=$278B28 ; Entry 3 Unfiltered parallel pos of location Y:$78B28
I8005=$020004 ; Width and Bias, total of 32-bits LSB starting at bit#4
Summary of Contents for Geo Brick
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