Encoder Output Pulses - YASKAWA JUSP-MD D01A Series User Manual

5 Operation

5.3.6 Encoder Output Pulses

5.3.6

Encoder Output Pulses

The encoder pulse output is a signal that is output from the encoder and processed inside the multi-winding
drive unit. It is then output externally in the form of a two-phase pulse signal (phases A and B) with a 90°
phase differential. It is used as the position feedback to the host controller.
Signals and output phase form are as shown below.
(1) Signals
Type
Output
Host controller
(2) Output Phase Form
Forward rotation (phase B leads by 90°)
Phase A
Phase B
Phase C
Note: The pulse width for phase C (origin pulse) changes according to the setting of the encoder output pulses (Pn212) and
becomes the same as that for phase A.
Even in reverse rotation mode (Pn000.0 = 1), the output phase form is the same as that for the standard setting
(Pn000.0 = 0) above.
5-26
Signal Connector
Name Pin Number
PAO CN1-33
/PAO CN1-34
PBO CN1-35
/PBO CN1-36
PCO CN1-19
/PCO CN1-20
Multi-winding drive unit
CN1
PAO
Dividing
PBO
circuit
(Pn212)
PCO
90°
t
If you use the multi-winding drive unit's phase-C pulse output for a zero point return,
rotate the servomotor two or more times before starting a zero point return. If the servo-
motor cannot be rotated two or more times, perform a zero point return at a motor speed
-1
of 600 min or below. If the motor speed is faster than 600 min
not be output correctly.
Name
Encoder output pulse: phase A
Encoder output pulse: phase B
Encoder output pulse: phase C
CN21
Converts
serial
data to
pulse.
Reverse rotation (phase A leads by 90°)
90°
Phase A
Phase B
Phase C
Remarks
These encoder pulse output pins out-
put the number of pulses per motor
revolution that is set in Pn212. Phase
A and phase B are different from
each other in phase by an electric
angle of 90°.
One pulse is output per motor rota-
tion.
Serial
data
ENC
t
-1
, the phase-C pulse may