Encoder Output Pulse - YASKAWA Σ-V Series User Manual

4 Operation

4.2.5 Encoder Output Pulse

4.2.5 Encoder Output Pulse

The encoder output pulse is the signal processed by the SERVOPACK after being received from the encoder
and is then output in the form of 2-phase pulses (phase A and B) with 90° phase differential to an external
device. It is used as positioning feedback for the host controller.
Signals and output phase form are as shown below.
(1) Signals
Type
Output
∗
For details on phase C (origin pulse), refer to (3) Encoder Output Signals from SERVOPACK with a Linear Scale by
Renishaw.
Host controller
∗
(2) Output Phase Form
Forward movement (phase B leads by 90°)
Phase A
Phase B
Phase C
Note: The pulse width of the phase C (origin pulse) changes according to the setting of the Pn281 and becomes the same as
that for phase A.
Even in reverse movement mode (Pn000.0 = 1), the output phase form is the same as that for the standard setting
(Pn000.0 = 0).
(3) Encoder Output Signals from SERVOPACK with a Linear Scale by Renishaw
The output position of the zero point signal (Ref) may vary in some models of the linear scale made by Ren-
ishaw.
If using a Renishaw model, the phase-C pulses of the SERVOPACK are output at two positions.
For details on the specifications of the zero-point signals for a linear scale, refer to the manual for the Ren-
ishaw linear scale.
4-12
Signal Connector
Name Pin Number
PAO CN1-17
/PAO CN1-18
PBO CN1-19
/PBO CN1-20
PCO CN1-21
/PCO CN1-22
CN1
Phase A
*
(PAO, /PAO)
Phase B
Dividing
(PBO, /PBO)
circuit
Phase C
(Pn281)
(PCO, /PCO)
90°
t
Name
Encoder output pulse: phase A
Encoder output pulse: phase /A
Encoder output pulse: phase B
Encoder output pulse: phase /B
Encoder output pulse: phase C
Encoder output pulse: phase /C
SERVOPACK
CN2
Converts
serial data
to pulse.
Reverse movement (phase A leads by 90°
90°
Phase A
Phase B
Phase C
*
*
Serial Analog
Serial
signal
data
converter
unit
t
Linear
scale
ENC