Omron CS1W-MCH71 Operation Manual page 253

Servo Parameter
Setting for Reverse Rotations
Motor rotation direction
seen from the load side
during forward rotation
command
CCW direction
CW direction
Phase A
Phase B
208
Related user's constant
Pn202
Pn203
<Full-closed System Specifications>
• Full-closed encoder pulse mode
5V differential line driver output (EIA Standard RS-422A compliance)
• Full-closed encoder pulse signal mode
Two pulses with phase difference of 90 degree: Phase-A, Phase-B
Latch pulse (origin pulse): Phase-C (can be used)
Maximum receivable frequency: 1 Mbps (per one phase)
Phase A
Phase B
t1
<No. of Full-closed Encoder Pulses Setting>
• Set the No. of full-closed encoder pulses per one motor rotation with the
value (x1 multiplication).
• If an integer cannot be obtained, set the closest integer.
• There will be deviations in the speed monitors of position loop gain, feed
forward, and command pulse, but no position deviation should result.
<Position Management>
• The full-closed control does not support an absolute encoder, but an
incremental encoder.
• If the encoder that is attached on the motor is an absolute encoder, the
usage is the same as for an incremental encoder.
Phase relations of the
full-closed PG input
during forward rotation
Diagram 8.3
Diagram 8.4
Diagram 8.3
Diagram 8.4
Full-closed PG input
Time
Diagram 8.3
Electronic gear (numerator)
Electronic gear (denominator)
t1, t2, t3, t4 ≥ 0.2 µs
t2 t3 t4
Forward rotation
Pn000.0 setting Pn002.3 setting Full-closed PG input phase
0 1, 2
3, 4
1 1, 2
3, 4
Full-closed PG input
Phase A
Phase B
Section 4-8
Reverse rotation
relations during CCW
direction rotation seen from
the load side
Diagram 8.3
Diagram 8.4
Diagram 8.4
Diagram 8.3
Time
Diagram 8.4