6.8 Absolute Encoders
6.8.3 Output Ports for the Position Data from the Absolute Encoder
6
Application Function
s
6-35
6.8.3
Output Ports for the Position Data from the Absolute
Encoder
You can read the position data of the absolute encoder from the PAO, PBO, and PCO (Encoder
Divided Pulse Output) signals.
The output method and timing for the position data of the absolute encoder are different in each case.
A conceptual diagram of the connections of the PAO, PBO, and PCO (Encoder Divided Pulse Output)
signals to the host controller is provided below.
The PAO (Encoder Divided Pulse Output) signal outputs the position data from the absolute encoder
after the control power supply is turned ON. The SENS_ON (Turn ON Sensor) command is used to
output the position data from the absolute encoder.
The position data of the absolute encoder is the current stop position. The absolute encoder outputs
the multiturn data with the specified protocol. The absolute encoder outputs the position within one
rotation as a pulse train. It then outputs pulses as an incremental encoder (incremental operation sta-
tus).
The host controller must have a reception circuit (e.g., UART) for the position data from the absolute
encoder. The pulse counter at the host controller will not count pulses when the multiturn data (com-
munications message) is input because only phase A is input. Counting starts from the position of the
absolute encoder within one rotation.
The output circuits for the PAO, PBO, and PCO signals use line drivers. Refer to the following section
for details on line drivers.
Signal
Status
Signal Contents
When Using an Absolute Encoder
PAO
First signal
Multiturn data position within one rotation (pulse train)
During normal operation
Incremental pulses
PBO
First signal
Position within one rotation (pulse train)
During normal operation
Incremental pulses
PCO
Always
Origin pulse
S
erial
data
ENC
CN1
Ho
s
t controller
S
ERVOPACK
PAO
PBO
PCO
CN2
Conver
s
ion of
s
erial data to
pul
s
e
s
Dividing
circuit
(Pn212)
