YASKAWA SGMJV User Manual page 143

5 Operation
5.4.1 Basic Settings for Position Control Mode
The built-in power supply of the SERVOPACK can be used. With an external power supply, a photocoupler
isolation circuit will be used. A non-isolated circuit will be used if the built-in power supply is used.
Host controller
Tr1
∗
(4) Electrical Specifications for Pulse Train Reference
Forms of pulse train references are as shown below.
Pulse Train Reference Form
Sign + pulse train input
(SIGN + PULS signal)
Maximum reference fre-
quency: 4 Mpps
(In case of open-collector
output, maximum refer-
ence frequency: 200 kpps)
CW pulse + CCW pulse
Maximum reference fre-
quency: 4 Mpps
(In case of open-collector
output, maximum refer-
ence frequency: 200 kpps)
Two-phase pulse train with
90° phase differential
(phase A + phase B)
Maximum reference fre-
quency: 1 Mpps*
(In case of open-collector
output, maximum refer-
ence frequency: 200 kpps)
∗
Maximum reference frequency by each multiplier are as follows.
×1 input pulse multiplier: 1 Mpps
×2 input pulse multiplier: 1 Mpps
×4 input pulse multiplier: 1 Mpps
5-36
PL1
PULS
∗
/PULS
PL2
1.5 V or
SIGN
less at ON
/SIGN
PL3
CLR
/CLR
FG
represents twisted-pair wires.
• Use a shielded cable for I/O signals and ground both ends of the shield.
• Connect the shield at the SERVOPACK to the connector shell so that the shield will
be connected to the frame ground (FG) through the connector.
SIGN
PULS
CCW
CW
Phase A
Phase B
SERVOPACK
CN1
+12V
1kΩ
3
Photocoupler
7
150Ω
8
13
11
12
18
15
14
1
FG
Electrical Specifications
t1 t2
t7
t3
t4
t5 t6
T
Forward reference Reverse reference
t1
T
t2
t3
Forward reference Reverse reference
t1 t2
T
Forward reference
Reverse reference
Phase B leads Phase B lags
phase A by 90° phase A by 90°
≤
0.025 μs Sign (SIGN)
t1, t2, t3, t7
≥ H = Forward
t4, t5, t6 0.5 μs
τ ≥
0.125 μs
L = Reverse
τ
T- = 0.125 μs
≤
0.025 μs
t1, t2
≥
0.5 μs
t3
τ ≥
0.125 μs
τ
T- = 0.125 μs
≤
0.1 μs Reference pulse
t1
form is set with
≥
0.1 μs
t2
Pn200.0.
τ ≥
0.5 μs
τ
= 0.5 μs
T-
Remarks
reference
reference