YASKAWA Sigma-II Series, User Manual

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10 Upgraded Versions
10.4.2 Adaptation to Single-turn Data Absolute Encoder
10-16
• Specifications of Single-turn Data Absolute Encoder
Item Specifications
Battery for absolute encoder
Not required
(Because no multiturn data needs to be stored.)
Absolute encoder multi-turn reset function
(Setup and encoder alarm reset)
Set to NO_OP and disabled
Fn013: Multiturn limit setting change when a
multiturn limit disagreement alarm (A.CC)
occurs
Set to NO_OP and disabled
Pn205: Multi-turn limit setting
Can be set, but the setting of Pn205 does not have any effect.
The alarm A.CC does not occur when the setting is changed. And the
multi-turn data is always “0” regardless of the Pn205 setting.
Pn002.2: Absolute encoder usage
Same as for the multi-turn absolute encoder
Pn002.2=0: Use the absolute encoder as an absolute encoder
Pn002.2=1: Use the absolute encoder as an incremental encoder
PAO serial data
The transmission format is the same as that of multi-turn absolute data
However, the data section is always set to “0” as follow.
P+00000 [CR]
PSO serial data
The transmission format is the same as that of multi-turn absolute data
However, the data section is always set to “0” as follow.
P+00000, nnnnnnn [CR]
Note: n represents the absolute value within one rotation.
Initial incremental pulse output time
The output pulse frequency is not changed. Therefore, the initial incre-
mental pulse output time increases according to the number of bits of the
mounted encoder.
As the maximum resolution of the existing specification is 16 bits, the
output time is 25 ms. With 20-bit encoder, the output time is 386 ms.
The equation to obtain the output time by the number of bits of encoder is
given below. The output time obtained by the equation is the minimum
required time.
T: Minimum time required to output initial incremental pulses
n: Number of encoder bits
Ex.) 16-bit encoder:
20-bit encoder:
T =
170
×
62.5
×
1000
2
n
T = = 24.094
→
25ms
170
×
62.5
×
1000
65536
T = = 385.506
→
386ms
170
×
62.5
×
1000
1048576