YASKAWA USAREM-A5A Bulletin page 32

6 4 3 Optical Encoder (PG) Output Circuit
[PAO, * PA O , PBO, *PBO, PCO, * P C 0 )
Phases A , B , a n d C (original p o i n t ) signals f o r
the optical encoder, P G a r e o u t p u t .
Use t h e s e s i g n a l s a s p o s i t i o n i n g s i g n a l s .
The o u t p u t signal specifications a r e as follows:
(1) S i g n a l f o r m
• Tw o - p h a s e p u l s e w i t h 9 0 ° p u l s e d i f f e r e n c e
(phases A a n d B )
• O r i g i n a l p o i n t pulse(phase C )
(2) O u p u t c i r c u i t a n d r e c e i v e r c i r c u i t
Two t y p e s o f o u t p u t c i r c u i t s a r e p r o v i d e d : l i n e
d r i v e r o u t p u t a n d o p e n c o l l e c t o r o u t p u t .
Fig.6.10 shows a n example o f line d r i v e r o u t p u t .
1 - 4 (PHA)
- - L
1-370' (PHB) 3 0 V D C , SINK CURRENT
1-21% (PHC) 2 0 m A or below
--r—.
V
1-330
PHASE A
1-34%
1-350
PHASE B i
:
1-36%
1-190
PHASE C
1-200
OUTPUT
LINE DRIVER
M C 3 4 8 F
1-1
- 2 0
, 3 ;
'1
S e r v o p a c k
tr1) T w i s t e d cable
tiMade by Texas Instruments Inc
Fig 6 10 Output Circuit and Receiver Circuit
SW2* Ot
Pulse Frequency
1/1
Dividing Ratio
• Hexadecimal digital s w i t c h
t Initial setting
OPEN COLLECTOR OUTPUT
I - - - + 5 V
116 4 1 IC
R 2
, - PHASE A
(1 IC- 1 / 4 )
R 6
• - PHASE B
tril 7
(1 IC- 2 / 4 )
R 10
. - PHASE C
: 9
(1 IC-3/4) LINE RECEIVER
MC3486t
TERMINATING
b8
RESISTANCE(R)
OV 2 2 0 TO 4700
CHOKE COIL
+ 5 V smo----/-"'"'"0T1-0---mG
I
c I CAPAMOR
I _ _ _ _ O V
RECEIVER CIRCUIT
(SUPPLIED BY CUSTOMER)
Table 6 1 S e t t i n g of PG Pulse Frequency Dividing Ratio
1 2 3 4
1/4
1/3 1/5 1/6
1/2
(3) O u t p u t phase
PHASE F O R W A R D RUNNING
A —
) - - ( 9 0 '
PHASE - 1 _
B
PHASE
C —
Note P h a s e C (original point pulse) is synchronized with phase A
(4) Pulse resolution
The p u l s e f r e q u e n c y o f t h e P G c a n b e f u r t h e r
divided b y u s i n g t h e d i v i d e r i n t h e SERVOPACK.
The p h a s e r e l a t i o n i s t h e s a m e a s i n ( 3 ) ,
above. S e t t h e p u l s e f r e q u e n c y d i v i d i n g r a t i o
according t o Ta b l e 6 . 1 . F i g . 6 . 1 2 shows t h e o p -
tical encoder o u t p u t waveform u n d e r t h e d i v i d -
ing pulse f r e q u e n c y.
(ORIGINAL POINT)
PHASE C
PHASE A
PHASE B
PHASE A
PHASE B
PHASE A
PHASE B
+ 5 V
Fig 6 12 Output Waveform of
OV
9
5 6 7 8
1/10 1/12 1/15 1/20 1/30
PHASE R E V E R S E RUNNING
A
1 - 1 9 0 '
PHASE
B
I P H A S E
C
Fig 6 11 Output Phase
Optical Encoder
A B C I D E
2/3 2/5 —
t
1 PULSE
FREQUENCY
DIVIDING
RATIO 1 / 1
I
PULSE
FREQUENCY
DIVIDING
RATIO 1 / 2
I
PULSE
FREQUENCY
DIVIDING
RATIO 1 / 3
F
— —