HarmonicDrive H A - 800A, Manual

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4-2 17-bit absolute encoder
4-11
11
10
9
4
7
6
5
4
3
2
1
Encoder
s
yst
em
Example: The current value is 1234567 (0012D687h)
First
0 1 1 1 0 1 0 0 0 0
Second
0 0 0 0 1 0 1 0 0 0
Third
0 0 1 1 0 1 1 0 0 0
Fourth
0 1 0 1 1 0 0 1 0 0
Fifth
0 0 1 0 0 1 0 1 0 1
Sixth
0 1 0 0 0 0 1 1 0 1
Seventh
0 0 0 0 0 1 1 1 0 1
Eighth
0 0 0 0 0 0 0 0 1 1
Ninth
0 0 0 0 0 1 0 0 1 0
0 1 2 3 4 5 6 7 p
Encoder phase A, B and Z signal outputs
When the motor shaft equipped with a 17-bit absolute encoder turns, incremental phase A, B
and Z signals are output to the pins CN2-42 to 48. The number of pulses per motor shaft
revolution is set by [SP61: System parameter].
CN2-42 Phase output-A+ (LD)
CN2-43 Phase output-A- (LD)
CN2-44 Phase output-B+ (LD)
CN2-45 Phase output-B- (LD)
CN2-46 Phase output-Z+ (LD)
CN2-47 Phase output-Z- (LD)
CN2-48 Monitor ground

Output signal pulses
The output pulses per motor shaft revolution are set by the parameter [SP61: Encoder monitor
output pulses].
Output pulses per motor shaft revolution
Phase A signal output Set value of SP61 ([1] to [8,192])
Phase B signal output Set value of SP61 ([1] to [8,192])
Phase Z signal output 1
For phase Z, 1 pulse is output per motor shaft revolution.
For example, setting the maximum value 8,192 in SP61 causes 8,192 pulses to be output per motor shaft
revolution. Although this corresponds to a resolution of 32,768 pulses, or 4 times 8,192, it is one-fourth the
resolution 131,072 of the 17-bit absolute encoder per motor shaft revolution.
8,192 × 4 = 32,768 (Quadruplicate)
26LS31
Encoder phase A+ signal output
Encoder phase A- signal output
Encoder phase B+ signal output
Encoder phase B- signal output
Encoder phase Z+ signal output
Encoder phase Z- signal output
42
43
46
47
44
45
48 Monitor ground
Start bit
Parity bit
Stop bit
Current
value data
Number of
divisions
data