YASKAWA SGD7S series Product Manual page 230

6.6 Position Control
6.6.1 Basic Settings for Position Control
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.
ervo ON
Ba e block
ign and
pul e train
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.
6-32
IGN
t
PUL
CCW
CW
Pha e A
Pha e B
*
ON
Relea ed
t1
H
CN1-11
H
t
CN1-7
Electrical Specifications
t1 t2
t7
t4

t5 t6
T
Rever e
reference
Forward reference
t1
T

t2
t
Rever e
Forward reference
reference
t2
t1

T
Rever e
Forward reference reference
Pha e B lead Pha e B lag
pha e A by 90. pha e A by 90.
t2
L
SIGN is high for
t1, t2, t3, t7 ≤ 0.025 μs
a forward refer-
t4, t5, t6 ≥ 0.5 μs
ence and low for
τ ≥ 0.125 μs
a reverse refer-
T-τ ≥ 0.125 μs
ence.
t1, t2 ≤ 0.025 μs
t3 ≥ 0.5 μs
τ ≥ 0.125 μs
T-τ ≥ 0.125 μs
t1 ≤ 0.1 μs
t2 ≤ 0.1 μs
τ ≥ 0.5 μs
T-τ ≥ 0.5 μs
t1≤ 6 m
t2≤6 m
(If Pn506 i et to 0.)
t ≥40 m
Remarks
–
–