Yaskawa FSP Amplifier - Manual (Page 151)

FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions
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5.7.4. Absolute Encoder Reception Sequence
This section describes the sequence in which the servo amplifier receives
data from the absolute encoder and transmits it to the host device. Be sure
you understand this section when designing the host device.
„ Outline of Absolute Signals
The absolute encoder’s outputs are PAO, PBO, PCO, and PSO signals as
shown below.
FSP Amplifier
Signal Status Contents
Initial State
Serial data
Initial incremental pulse
PAO
Normal State Incremental pulse
Initial State Initial incremental pulse
PBO
Incremental pulse
PCO Home position pulse
PSO
Normal State
Rotation count serial data
„ Contents of Absolute Data
• Serial data: Indicates how many turns the motor shaft has made from
the reference position (position specified at setup).
• Initial incremental pulse: Outputs pulses at the same pulse rate as when
the motor shaft rotates from the home position to the current position at
approximately 2500rpm (for 16 bits when the dividing pulse is at the
default setting).