Encoder Divided Pulse Output; Encoder Divided Pulse Output Signals - YASKAWA SGD7S Product Manual

6.5

Encoder Divided Pulse Output

The encoder divided pulse output is a signal that is output from the encoder and processed
inside the SERVOPACK. It is then output externally in the form of two phase pulse signals
(phases A and B) with a 90° phase differential. At the host controller, it is used as the position
feedback.
The following table describes the signals and output phase forms.
6.5.1

Encoder Divided Pulse Output Signals

Type Signal
PAO
/PAO
PBO
Output
/PBO
PCO
/PCO
*
Refer to the following section for information on the origin within one encoder rotation.

Encoder Output Pulse Signal from SERVOPACK with a Linear Encoder from Renishaw PLC on page 6-20
• Rotary Servomotor
Serial
data
ENC
• Linear Servomotors
Linear
encoder
ENC
Converter Unit
Connector Pin No.
CN1-17

Encoder Divided Pulse Output,

Phase A
CN1-18
CN1-19
Encoder Divided Pulse Output,
Phase B
CN1-20
CN1-21
Encoder Divided Pulse Output,
Phase C
CN1-22
SERVOPACK
CN2
Conversion of
serial data to
pulses
CN2
Serial data
Conversion of
Serial
serial data to
pulses
6.5.1 Encoder Divided Pulse Output Signals
Name
*
Host controller
CN1
PAO
Dividing
circuit
PBO
(Pn212)
PCO
SERVOPACK
CN1
Dividing
circuit
(Pn281)
6.5 Encoder Divided Pulse Output
Remarks
• Rotary Servomotors
These encoder divided pulse
output pins output the number
of pulses per motor resolution
that is set in Pn212 (Number of
Encoder Output Pulses). The
phase difference between
phase A and phase B is an
electric angle of 90°.
• Linear Servomotors
These encoder divided pulse
output pins output pulses at the
resolution that is set in Pn281
(Encoder Output Resolution).
The phase difference between
phase A and phase B is an
electric angle of 90°.
These pins output one pulse
every motor rotation.
Host controller
PAO
PBO
PCO
6
6-19