Higen FDA7000 Series, Operation Manual

Page: 74 / 214

2. Wiring and connection
2-31
※ Absolute data
M
E is calculated as follows.
I C
E R M E
  
S C M
E E E
 
C
E : Current position read from encoder
M
: Serial data (multi turns data)
I
E : Initial incremental pulse (Generally showed in “-“ value)
S
E : Initial incremental pulse read from absolute encoder initialization point
(Generally shown in “-“ value and this value is stored and used in the host controller.)
M
E : Current position necessary from customer system
R
: Pulse for 1 encoder revolution (Value with division ratio [P01-14] applied)
③
Absolute data transmission sequence
ⓐ Maintain the ABS_REQ signal to “H” Level.
ⓑ After 50ms, it switches to standby condition to receive the serial data. The up/down
counter for incremental pulse count is cleared to “0”.
ⓒ It receives the serial data 8 byte.
ⓓ After receiving the initial serial data and about 400ms past, it operates as general
incremental encoder.
ABS_REQ signal
PAO
PBO
50ms
Negative
Negative
90ms Type
60ms Min.
260ms Max.
Revolution serial data
about 15ms
Incremental
pulse
8~9ms 400ms Max.
Initial incremental pulse
A phase
B phase
Incremental pulse
A phase
B phase
Incremental pulse