Position Reference - YASKAWA SGDH User Manual

8.6.3 Position Reference

The servomotor positioning is controlled by inputting a pulse train reference.
The pulse train output form from the host controller corresponds to the following:
• Line-driver Output
• +24V Open-collector output
• +12V Open-collector output
• +5V Open-collector output
Precautions for Open-collector Output
IMPORTANT
When the open-collector output is used, input signal noise margin lowers. Change the parameter as follows:
Pn200
(1) Input/Output Signal Timing Example
Servo ON
Baseblock
CN1-11
Sign + pulse train
CN1-7
PAO
Encoder pulses
PBO
/COIN
CLR
Note: 1. The interval from the time the servo ON signal is turned ON until a reference pulse is input must
be at least 40 ms, otherwise the reference pulse may not be received by the SERVOPACK.
2. The error counter clear signal must be ON for at least 20
Parameter
n.1 Reference input filter for open-collector signal
ON
Release
t1
H
H
t3
L
H
L
H
L
t4
ON
8-53
8.6 Operating Using Position Control
Description
t1 ≤ 30 ms
t2
t2 ≤ 6 ms
(When parameter Pn506 is set to 0.)
t3 ≥ 40 ms
t4, t5, t6 ≤ 2 ms
t7 ≥ 20 µs
t5
t6
ON
t7
µ
s.
8