YASKAWA Sigma-V Series User Manual page 157

5 Operation
5.4.1 Basic Settings for Position Control
(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
(Maximum reference fre-
quency in case of open-
collector output: 200 kpps)
CW + CCW pulse train
Maximum reference fre-
quency: 4 Mpps
(Maximum reference fre-
quency in case of open-
collector output: 200 kpps)
Two-phase pulse train with
90° phase differential
(phase A + phase B)
Maximum reference fre-
quency: 1 Mpps*
(Maximum reference fre-
quency in case of open-
collector output: 200 kpps)
∗
Each multiplier's maximum reference frequency before multiplication is 1 Mpps.
×1 input pulse multiplier: 1 Mpps
×2 input pulse multiplier: 1 Mpps
×4 input pulse multiplier: 1 Mpps
(5) I/O Signal Timing Example
I/O signal timing example is as shown below.
Servo ON
Baseblock
Sign + pulse train
Note: The interval from the time the servo ON signal is turned ON until a reference pulse is input (t3) must be at least 174
ms. Otherwise the reference pulse may not be received by the SERVOPACK.
5-36
t1 t2
SIGN
t3
PULS
t4
T
Forward reference
t1
T
CCW
t2
CW
Forward reference
t1 t2
Phase A
Phase B
T
Forward reference
Phase B leads
phase A by 90°.
ON
Release
t1
H
CN1-11
H
t3
CN1-7
Electrical Specifications
t1, t2, t3, t7
t7
≥
t4, t5, t6
τ ≥
0.125 μs
t5 t6
τ ≥
0.125 μs
T-
Reverse reference
≤
0.025 μs
t1, t2
≥
t3 0.5 μs
τ ≥
0.125 μs
τ ≥
0.125 μs
T-
t3
Reverse reference
≤
0.1 μs
t1
≤
0.1 μs
t2
τ ≥
0.5 μs
τ ≥
T- 0.5 μs
Reverse reference
Phase B lags
phase A by 90°.
t2
L
Remarks
≤
0.025 μs Sign (SIGN)
H = Forward
0.5 μs
reference
L = Reverse
reference
Reference pulse
form is set with
Pn200.0.
Analog
t1 ≤ 170 ms
t2 ≤ 6 ms
(When Pn506 is set to 0.)
t3 ≥ 174 ms