Yaskawa Large Capacity Sigma II Series - Manual (Page 166)

4 Parameter Settings and Functions
4.7.5 Absolute Encoder Reception Sequence
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4.7.5 Absolute Encoder Reception Sequence
The sequence in which the SERVOPACK receives outputs from the absolute encoder and
transmits them to the host device is shown below.
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.
Signal Name Status Signal Contents
PAO Initial state Serial data
Initial incremental pulse
Normal state Incremental pulse
PBO Initial state Initial incremental pulse
Normal state Incremental pulse
PCO Always Origin pulse
PSO Always Rotation count serial data
PG
SERVOPACK
Serial data →
pulse conversion
PS
PAO
PBO
PCO
PSO
Dividing
circuit
(Pn201)
Data → data
conversion