Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Command Option Interface - Manual (Page 133)

4.5 Absolute Encoders
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4.5.2 Absolute Data Request (Sensor ON Command)
The Sensor ON command must be turned ON to obtain absolute data as an output from the SERVOPACK.
The Sensor ON command is turned ON at the following timing.
Note: Command sending method differs in accordance with the connected command option module.
For details, refer to the manual for the command option module that is connected.
∗ Turn OFF the Sensor ON command to turn OFF the control power supply.
SERVOPACK control
power supply
5 seconds max.
ON
OFF
OFF
ON (Normal status)
OFF
ON
50 ms
Rotational serial data
(Phase A)
(Phase B) (Phase B)
Approx.
15 ms
400 ms max.
1 to 3 ms
60 ms max.
(90 ms typ.)
The servomotor will not be turned ON even if the
Sensor ON command is turned ON during this interval.
ALM signal OFF
(Alarm status)
Sensor ON command
PAO
PBO
Servomotor power
Undefined
Undefined
(Phase A)
OFF
OFF
OFF
OFF
*
ON
Incremental
pulses
Incremental
pulses Initial incremental
pulses
Initial incremental
pulses
M-II