6.13 Absolute Linear Encoders
6.13.7 Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder
6
Application Function
s
6-95
Note: The above formulas also apply in reverse movement mode (Pn000 = n.
1).
6.13.7
Alarm Output from the Output Ports for the Position
Data from the Absolute Linear Encoder
Any alarm detected by the SERVOPACK is transmitted as the upper 16-bit data (with sign) to the host
controller with the PAO (Encoder Divided Pulse Output) signal when the SEN (Absolute Data Request)
turns OFF.
The data format of the alarm information is shown below.
P
S
’
Lower 20 bits of the position data of the origin
Encoder Output Resolu-
tion (Pn281)
Encoder pulses
P
M
Current position in machine coordinate system
R
1048576 (=220)
If you are using a Linear Servomotor, you do not need to reset the absolute linear encoder to
define the origin. (Some absolute linear encoders also allow you to set any position as the origin.)
Continued from previous page.
Symbol
Meaning
Setting or Unit
Encoder Divided Pulse
Output (PAO and PBO)
Signals
Absolute Encoder
Position Output (PSO)
Signal
Information
ALM
s
ignal
Motor power
s
tatu
s
Main circuit
power
s
upply
Control power
s
upply
S
EN
s
ignal
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
