HarmonicDrive H A - 800A, Manual

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4-2 17-bit absolute encoder
4-9
11
10
9
4
7
6
5
4
3
2
1
Encoder
s
yst
em
Data output
Outputting the current value data from the pins CN2-40 and 41
This is used to acquire the current value data in order to manage the absolute position with the
absolute encoder. The current value of the 17-bit absolute encoder is constantly output cyclically.
Data of bits 0 to 32 (including the sign) is divided into 9 parts and sent. Data of bits 0 to 32 is
sent in 9 transmissions taking 100 ms each, or over a total period of 900 ms.
It is output with a line driver (26LS31), so receive using a line receiver (AM26LS32 or
equivalent).
This data is transmitted cyclically and repeatedly after the driver power supply is turned ON and
CPU is started, regardless of the timings of phase A, B and Z output signals.
With the SHA-CG series, operation commands can be set in the actuator in angle units with
[SP67: Output shaft divide function setting].In this case, the absolute encoder current value data
is also output equivalent to degree units.
Also, with the SHA-CG output shaft single revolution absolute model, the output range for the
current value is the values for single revolution of the output shaft. For details on the current
value data output range, refer to the table below.
* For the current value data reception sequence, sample ladder is available for the Mitsubishi
Electric Q Series and the Keyence KV Series. For details, contact our sales office.
* The current value data is unstable immediately after turning the control power supply ON.
Read the current value data after 10 seconds or longer elapsed after turning the control
power supply ON.
Output format Start-stop
Communication speed 9600 bps
Stop bit 1 bit
Data length
8 bit
Parity bit
Even parity
Format LSB first
Refresh cycle (refresh cycle of
each number of divisions
data)
100 ms
Output format*
*: If the current value data is negative, each bit of the data is output as its 2’s complement
Number
of
divisions
Current value data Number of divisions data
Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7
1 Current value data bits 0 to 3 1 0 0 0
2 Current value data bits 4 to 7 0 1 0 0
3 Current value data bits 8 to 11 1 1 0 0
4 Current value data bits 12 to 15 0 0 1 0
5 Current value data bits 16 to 19 1 0 1 0
6 Current value data bits 20 to 23 0 1 1 0
7 Current value data bits 24 to 27 1 1 1 0
8 Current value data bits 28 to 31 0 0 0 1
9 Code data (If positive, all 0. If negative, all 1) 1 0 0 1
26LS31
Current value data
Current value data output-
40
41
CN2
48 Monitor ground