YASKAWA SGM-A3 User Manual page 504

REVIEWING THE FULL-CLOSED LOOP SPECIFICATIONS
Reference
pulse
G
PG signal
output
496
e) Output Phase Form: Refer to the following phase relation for the feedback pulse to
• When incremental encoder is used:
Forward
Phase−A
Phase−B
Phase−C
Forward: CCW when viewed from the drive end
Reference pulse frequency =
Motor Speed =
DR2 Servopack
Feed
Differ-
forward
entiation
gain
Smooth-
ing
Note: Semi−closed and full−closed cannot be changed by internal setting.
(DR2−jjjCj−F is the full−closed loop type Servopack.)
Servopack
Reverse
90_
Phase−A
Phase−B
Phase−C
20mm/s
0.1µm/pulse
20mm/s
×60s/min = 600r/min
2mm/rev
Primary Bias
lag filter
Speed
Error
loop
counter
×4
90_
= 200kPPS
SGM
Servomotor
COIN
signal
Position Detector
Current
loop
Amplifier
Encoder