6.8 Absolute Encoders
6.8.4 Reading the Position Data from the Absolute Encoder
6-33
6
Application Functions
6.8.4
Reading the Position Data from the Absolute Encoder
The sequence to read the position data from the absolute encoder of a Rotary Servomotor is given
below.
The multiturn data is sent according to the transmission specifications.
The position of the absolute encoder within one rotation is output as a pulse train.
*
The pulse output time T for the position of the absolute encoder within one rotation depends on the setting of
Pn212 (Number of Encoder Output Pulses). Refer to the following table.
Setting of Pn212
Calculation of the Pulse Output Speed
for the Position of the Absolute Encoder
within One Rotation
Calculation of the Pulse Output Time T
for the Position of the Absolute
Encoder within One Rotation
16 to 16,384
680
×
Pn212/16,384 [kpps]
25 ms max.
16,386 to 32,768
680
×
Pn212/32,768 [kpps]
50 ms max.
32,722 to 65,536
680
×
Pn212/65,536 [kpps]
100 ms max.
65,544 to 131,072
680
×
Pn212/131,072 [kpps]
200 ms max.
131,088 to 262,144
680
×
Pn212/262,144 [kpps]
400 ms max.
262,176 to 524,288
680
×
Pn212/524,288 [kpps]
800 ms max.
524,352 to 1,048,576
680
×
Pn212/1,048,576 [kpps]
1,600 ms max.
1,048,704 to 2,097,152
680
×
Pn212/2,097,152 [kpps]
3,200 ms max.
2,097,408 to 4,194,304
680
×
Pn212/4,194,304 [kpps]
6,400 ms max.
Disable Operation
Controlword
(6040 hex)
Statusword
(6041 hex)
Enable Operation
Switched on
Operation Enabled
Power supplied.
Motor power status
Power not supplied.
Main circuit
power supply
Control power
supply
/S-RDY signal
ALM signal
PAO signal
PBO signal
Multiturn
data
Incremental pulses
Incremental pulses
ON
OFF
OFF
ON
No alarm
ON
OFF
Undefined.
Undefined.
5 s max.
50 ms
Approx. 15 ms
1 ms to 3 ms
T
*
90 ms
typ.
Position within one rotation
(incremental pulses)
Position within one rotation
(incremental pulses)
