10. Application Functions
10.13 Absolute Encoder Data Transmission (ABSRQ)
When absolute encoder data is requested, the absolute encoder data is transmitted to the
hosd controller through the encoder output signals AO and BO, in the form of quadrature
pulse.
The encoder output pulse is output at the speed of 500[Kpps].
The drive, when the ABSRQ signal is input, first transmits the multi-turn data, followedby
transmission of single-turn data.
(See 7.2 Input/Output Signal Setting for allocation of ABSRQ signal)
Absolute Data Transmission/Reception Sequence
1. When the host controller is ready to receive the data, set the ABSRQ signal to ON.
The ABSRQ signal can be input through digital input or ABSRQ bit of drive control input 2 [0x2120].
(See1.3 L7P Indexer Servo Drive Communication Address Table for communication address of
Modbus RTU)
2. When the drive receives the ABSRQ signal, it prepares for encoder data transmission after about
100[ms] delay.
3. The drive transmits the multi-turn data for up to 200[ms]. During the 200[ms] after the multi-turn
data transmission begins, the drive prepares for transmission of single-turn data.
4. The drive transmits the single-turn data for up to 1200[ms]. The output data at this time has the vale
determined under consideration of the number of encoder output pulses (division ratio). 200[ms]
after the single-turn data transmission begins, the drive goes back to the normal encoder output
signal.
ABSRQ
A-ph as e(AO)
B-phase(BO)
A절bs대ol치ute데da이te터out출pu력t
Divded분pu주ls펄e o스utp출ut력
…
Multi-Turn Data
Single-Turn Data
…
100ms Max. 200ms
Max. 1200ms
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