Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III Communication Reference - Manual (Page 137)

4.7 Absolute Encoders
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4.7.2 Absolute Data Request (SENS ON Command)
The Turn Sensor ON command (SENS_ON) must be sent to obtain absolute data as an output from the SER-
VOPACK.
The SENS_ON command is sent at the following timing.
∗ Send the SENS_OFF 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
SV_ON command is received during this interval.
ALM signal OFF
(Alarm status)
SENS_ON
(Turn Sensor ON)
PAO
PBO
Servomotor power
Undefined
Undefined
(Phase A)
OFF
OFF
OFF
OFF
*
ON
Incremental
pulses
Incremental
pulses Initial incremental
pulses
Initial incremental
pulses
M-III