YASKAWA E-7-Series SGD7S Product Manual page 198

Electrical Specifications for Pulse Train Reference
The following table describes the forms for pulse train references.
Pulse Train Reference Form
Sign and pulse train
(SIGN and PLUS signals)
Maximum reference
frequency: 4 Mpps
(maximum reference
frequency for open-collector
output: 200 kpps)
CW and CCW pulse trains
Maximum reference
frequency: 4 Mpps
(maximum reference
frequency for open-collector
output: 200 kpps)
Two-phase pulse trains with
90° phase differential (phases
A and B)
Maximum reference
*
frequency: 1 Mpps
(maximum reference
frequency for open-collector
output: 200 kpps)
*
The maximum reference frequency for the multipliers before multiplication are as follows:
×1 multiplier: 1 Mpps
×2 multiplier: 1 Mpps
×4 multiplier: 1 Mpps
Timing Example for Pulse Train References
The following example shows the timing of inputting the pulse train reference after the servo turns ON when
a signal and pulse train are used.
Servo ON
Base block
t1
CN1-11
Sign and
pulse train
t3
CN1-7
The interval (t3) between when the servo is turned ON until the pulse train reference is input must be at least
40 ms. If the reference is input in less than 40 ms, the reference pulses may not be received by the SERVO-
PACK.
Electrical Specifications
t1 t2
SIGN
t3
PULS
t4

t5
T
Forward reference
t1
T
CCW

t2
CW
t3
Forward reference reference
t1 t2
Phase A
Phase B

T
Forward reference
Phase B leads Phase B lags
phase A by 90. phase A by 90.
ON
Released
H
L
H
6.6.1 Basic Settings for Position Control
t7
t1, t2, t3, t7 ≤ 0.025 μs
t4, t5, t6 ≥ 0.5 μs
τ ≥ 0.125 μs
t6
T-τ ≥ 0.125 μs
Reverse
reference
t1, t2 ≤ 0.025 μs
t3 ≥ 0.5 μs
τ ≥ 0.125 μs
T-τ ≥ 0.125 μs
Reverse
t1 ≤ 0.1 μs
t2 ≤ 0.1 μs
τ ≥ 0.5 μs
T-τ ≥ 0.5 μs
Reverse
reference
t1≤36 ms
t2≤6 ms
t2
(If Pn506 is set to 0.)
t3≥40 ms
Analog
6.6 Position Control
Remarks
SIGN is high for
a forward refer-
ence and low for
a reverse refer-
ence.
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