YASKAWA SGD7S Product Manual page 200

6.5 Encoder Divided Pulse Output
6.5.1 Encoder Divided Pulse Output Signals
Output Phase Forms
Forward rotation or movement
(phase B leads by 90°)
Phase A
Phase B
Phase C
Note: The pulse width of the origin within one encoder rotation depends on the setting of number of encoder output
pulses (Pn212) or the encoder output resolution (Pn281). It is the same as the width of phase A.
Even for reverse operation (Pn000 = n.1), the output phase form is the same as shown above.
Important
Linear Encoder Application Precautions
The following precautions apply to the encoder output pulses when an external linear encoder
is used.
 Encoder Output Pulse Signal from SERVOPACK with a Linear Encoder
from Renishaw PLC
The output position of the origin signal (Ref) will depend on the direction of movement for some
models of linear encoders from Renishaw PLC.
In that case, the phase-C pulse of the SERVOPACK is output at two positions.
For detailed specifications on the origin signal for the linear encoder, refer to the manual for the
Renishaw PLC linear encoder.
 When Passing the First Origin Signal (Ref) in the Forward Direction and Returning
after Turning ON the Power Supply
Machine position (forward)
Origin detection
position
Origin detection
position
Origin signal (Ref)
 When Passing the First Origin Signal (Ref) in the Reverse Direction and Returning
after Turning ON the Power Supply
Origin detection
position
Origin detection
position
Origin signal (Ref)
6-20
90°
t
If you use the SERVOPACK's phase-C pulse output for an origin return, rotate the Servomotor
two or more rotations before you start an origin return. If the Servomotor cannot be rotated two
or more times, perform an origin return operation at a motor speed of 600 min
motor speed is higher than 600 min
Power ON
Phase C
Machine position (forward)
Power ON
Phase C
Reverse rotation or movement
(phase A leads by 90°)
90°
Phase A
Phase B
Phase C
-1
, the phase-C pulse may not be output correctly.
No origin signal (Ref) is output by the external encoder. However, a phase-C
pulse will be output from the SERVOPACK when the motor moves in the
reverse direction, because this is the same position from which a phase-C
pulse was output when the motor moved in the forward direction.
No origin signal (Ref) is output by the external encoder. However, a phase-C
pulse will be output from the SERVOPACK when the motor moves in the
forward direction, because this is the same position from which a phase-C
pulse was output when the motor moved in the reverse direction.
t
-1
or lower. If the
Time
The second pulse is half as
wide as the phase-A pulse.
Time
The second pulse is half as
wide as the phase-A pulse.