Encoder Output Pulses - YASKAWA SGMJV User Manual

5 Operation

5.3.6 Encoder Output Pulses

5.3.6 Encoder Output Pulses
Encoder output pulse is the signal which processes the encoder output inside the SERVOPACK and then out-
puts externally in the form of 2-phase pulses (phase A and B) with 90° phase differential. It is used as the feed-
back of position.
Signals and output phase form are as shown below.
(1) Signals
Type
Output
Host controller
(2) Output Phase Form
Forward rotation (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 Pn212 and becomes the same
as that for phase A.
Even in reverse rotation mode (Pn000.0 = 1), the output phase form is the same as that for the standard setting
(Pn000.0 = 0).
5-30
Signal Connector
Name Pin Number
PAO CN1-33
/PAO CN1-34
PBO CN1-35
/PBO CN1-36
PCO CN1-19
/PCO CN1-20
CN1
Phase A
(PAO)
Phase B
(PBO)
Phase C
(PCO)
90°
t
If using the SERVOPACK's phase-C pulse output for a zero point return, rotate the ser-
vomotor twice before starting a zero point return. If the configuration prevents the servo-
motor from returning to the zero point, perform a zero point return at a motor speed of
-1
600 min or below. If the motor speed is faster than 600 min
may not be output correctly.
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 rotation (phase A leads by 90°
90°
Phase A
Phase B
Phase C
Remarks
Output pulses per motor rotation set
in the encoder output pulses (Pn212),
and phase A and phase B are different
from each other in phase by an elec-
tric angle of 90°.
One pulse is output per motor rota-
tion.
Serial
data
ENC
t
-1
, the phase-C pulse output