Setting The Pao, Pbo, And Pco (Encoder Divided Pulse Output) Signals - YASKAWA E-7S SERVOPACK SGD7S Product Manual

Related Parameter
Number of External Scale Pitches
Setting Range
Pn20A
4 to 1,048,576
10.3.4 Setting the PAO, PBO, and PCO (Encoder Divided Pulse
Output) Signals
Set the position resolution in Pn281 (Encoder Output Resolution).
Enter the number of phase A and phase B edges for the setting.
Setting Example
Specifications
External encoder scale pitch: 20 μm
Ball screw lead: 30 mm
Speed:1,600 mm/s
If a single pulse (multiplied by 4) is output for 1 μm, the setting would be 20.
If a single pulse (multiplied by 4) is output for 0.5 μm, the setting would be 40.
The encoder divided pulse output would have the following waveform if the setting is 20.
Phase A
Phase B
"↑" indicates the edge positions. In this example, the set value is 20 and therefore the number
of edges is 20.
Note: The upper limit of the encoder signal output frequency (multiplied by 4) is 6.4 Mpps. Do not set a value that
would cause the output to exceed 6.4 Mpps.
If the output exceeds the upper limit, an A.511 alarm (Overspeed of Encoder Output Pulse Rate) will be out-
put.
If the setting is 20 and the speed is 1,600 mm/s, the output frequency would be 1.6 Mpps
Example
1600 mm/s
0.001 mm
Because 1.6 Mpps is less than 6.4 Mpps, this setting can be used.
Related Parameter
Encoder Output Resolution
Pn281 Setting Range
Note: The maximum setting for the encoder output resolution is 4,096.
If the resolution of the external encoder exceeds 4,096, pulse output will no longer be possible at the resolu-
tion given in

10.3.4 Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals

Setting Unit
1 scale pitch/revo-
lution
Sine wave pitch
= 1,600,000 = 1.6 Mpps
Setting Unit
1 to 4,096 1 edge/pitch

Feedback Resolution of Linear Encoder on page 5-44.
10.3 Parameter Settings for Fully-Closed Loop Control
Default Setting When Enabled
32,768 After restart
Default Setting When Enabled
20 After restart
Classification
Setup
10
Classification
Setup
10-7