YASKAWA SGD7S-****20A Series, Руководство по эксплуатации продукта

Страница: 227 / 561

6.8 Absolute Encoders
6.8.7 Alarm Output from Output Ports for the Position Data from the Absolute Encoder
6-38
6.8.7 Alarm Output from Output Ports for the Position Data
from the Absolute Encoder
Any alarm detected by the SERVOPACK is transmitted as alarm information to the host control-
ler with the PAO (Encoder Divided Pulse Output) signal when the SENS_ON (Turn ON Sensor)
command turns OFF.
The data format of the alarm information is shown below.
Symbol Meaning
Setting or Unit
Encoder Divided Pulse
Output (PAO and PBO)
Signals
Absolute Encoder
Position Output (PSO)
Signal
P
E
Position data for the current position of the
absolute encoder
Encoder output pulses
(encoder pulses x setting
of Pn212)
Encoder pulses
M
Current position of the multiturn data of the
absolute encoder
− −
P
O
Position of the current position within one rotation
Encoder output pulses
(encoder pulses x setting
of Pn212)
Encoder pulses
P
S
Position data of the absolute encoder when
absolute encoder was reset
M
S
Multiturn data of the absolute encoder when
absolute encoder was reset
− −
P
S
’
Position of the absolute encoder within one
rotation when absolute encoder was reset
Encoder output pulses
(encoder pulses x setting
of Pn212)
Encoder pulses
P
M
Current position in machine coordinate system
R Number of encoder pulses per revolution
Setting of Pn212 Encoder resolution
Calculations for Reverse Rotation Mode (Pn000 = n.

1)
PM = PE - PS
PE = -M × R + PO
PS = MS × R + PS PM = PE - PS
PE = -M × R - PO
PS = MS × R - PS’
1. If you are using a Rotary Servomotor, you must reset the absolute encoder. Refer to the fol-
lowing section for information on resetting the absolute encoder.
5.16
Resetting the Absolute Encoder
on page 5-48
2. You can set the origin to a different position from the reset position. Refer to the following sec-
tion for information on the origin position offset.
5.17
Setting the Origin of the Absolute Encoder
on page 5-51
Information
ALM s ignal
Motor power
s tatu s
Main circuit
power
s upply
Control power
s upply
S EN S _ON
command
PAO s ignal
S ervo ON
(Power s upplied.)
S ervo OFF (Power not s upplied.)
ON OFF
ON
Alarm information
ON OFF
A
L
M
0 to 9
0 to 9
.
CR
Upper two digit s
of alarm code