8.4 Absolute Encoders
8
Operation
8-29
8.4.1 Interface Circuits
The following diagram shows the standard connections for a an absolute encoder mounted to a servomotor. The
connection cables and wiring pin numbers depend on the servomotor. For details, refer to
chapter 5 Specifica-
tions and Dimensional Drawings of Cables and Peripheral Devices
.
* 1. :
Represents twisted-pair wires.
* 2. For wiring pin numbers, refer to
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
.
• SEN Signal Connection
Applicable line receiver: Texas Instruments’s SN75175 or the equivalent
Terminating resistance R: 220 to 470
Ω
R
BAT (+)
BAT (-)
PG5 V
PG0 V
PS
/PS
BAT(-)
PCO
/PCO
PBO
/PBO
PAO
/PAO
BAT(+)
SEN
SG
R
R
PA
PB
PC
PS
+5 V
7406
0 V
+
-
4
2
21
22
33
34
35
36
19
1
20
CN1
3
4
5
6
2
1
CN2
UP
DOWN
SG
0 V
Host controller
Battery
SERVOPACK
Encoder
Serial interface
circuit
Serial interface
circuit
Line receiver
Edge
detection
Up/down
counter
Clear
Shield (shell)
Connector
shell
R
PSO
/PSO
48
49
PG
∗
1
∗
1
∗
2
Type
Name
Connector
Pin Number
Setting
Meaning
Input
SEN
CN1-4
OFF (low level)
Input when power is turned ON
ON (high level)
Input at absolute data request
• This input signal is required to output absolute data
from the SERVOPACK.
• When the SERVOPACK main circuit power supply
turns OFF, input the SEN signal at a low level.
• Let at least three seconds elapse after turning ON the
power before changing the SEN signal to high level.
• When the SEN signal changes from low level to high
level, the multiturn data and initial incremental
pulses are output.
Until these operations have been completed, the ser-
vomotor cannot be turned ON regardless of the status
of the servo ON signal (/S-ON).
• The panel operator display will also remain “b.b”.
Refer to
8.4.6 Absolute Encoder Reception Sequence
.
IMPORTANT
Maintain the high level for at least 1.3 seconds when the SEN
signal is turned OFF and then ON, as shown in the figure on the
right.
4.7 k
SEN
4
CN1
SG
2
+5V
0V
100
Ω
Ω
0V
0.1
μ
Host controller
SERVOPACK
High level:
About 1 mA
7406 or equivalent
We recommend a PNP transistor.
Signal levels
High: 4.0 V min. Low: 0.8 V max.
OFF
ON (high level)
1.3 s min.
OFF
ON
15 ms min.
SEN signal
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