Power Brick Controller User Manual
Connections and Software Setup
57
Yaskawa Sigma I Configuration Example
Serial Encoder Control
–
Sigma I
Because there is no explicit clock signal with Sigma I, the serial clock frequency is set 20 times higher than
the bit transmission frequency to “oversample” the input data stream. For the default 9600 baud
transmission of the Sigma I encoder, this clock frequency should be 9.6 x 20 = 192 kHz.
Divide the 100 MHz clock by M=130 ($83) and by 4 (N = 2) to get 192 kHz. triggering on the falling edge
of servo clock without delay. Since this is a “one-shot” read, the selection of the triggering clock edge does
not matter much.
Bit #:
Binary:
Hex ($):
Serial Encoder Command
–
Sigma I
Yaskawa no longer produces Sigma I absolute encoders. However, newer generations of Yaskawa Sigma
servo drives synthesize the Yaskawa Sigma I protocol for return to the controller even when using newer
Sigma II, III, and V encoders. Bit 16 is set to strobe the encoder as Sigma I uses a one-shot trigger.
Bit #:
Binary:
Hex ($):
M Divisor
N Divisor
R
es
er
ve
d
C
lo
ck
Ed
ge
Trigger Delay
Protocol
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1 0 0 0
0 0 1 0
0 0 1 0 0 0 1 1
0 0 0 0
0 0 0 0 0 0 0 0
0 1 0 1
8
2
2
3
0
0
0
5
M
o
d
e
T
ri
g
E
n
a
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 0 0 0
0 0 0 0
0 0 0 0 0 0 0 1
0 0 1 1
0 0 0 0 0 0 0 0
0 0 0 0
0
0
0
1
3
0
0
0
0: Rising
1: Falling
= Delay
µsec
x 0.192
Protocol: =5 Sigma I
PowerBrick[0].SerialEncCtrl = $82230005
PowerBrick[0].Chan[0].SerialEncCmd = $13000
PowerBrick[0].Chan[0].SerialEncEna = 1
