68 Operation Theory
Dual Pulse Output Mode (CW/CCW Mode)
In this mode, the waveform of the OUT and DIR pins represent
CW (clockwise) and CCW (counter clockwise) pulse output
respectively. The numbers of pulse represent distance in pulse.
The frequency of the pulse represents speed in pulse per sec-
ond. Pulses output from the CW pin makes the motor move in
positive direction, whereas pulse output from the CCW pin
makes the motor move in negative direction. The following dia-
gram shows the output waveform of positive (+) commands
and negative (-) commands.
The command pulses are counted by a 28-bit command counter.
The command counter can store a value of total pulses outputting
from controller.
4.3.2 Pulse Feedback Input Interface
Our motion controller provides one 28-bit up/down counter of each
axis for pulse feedback counting. This counter is called position
counter. The position counter counts pulses from the EA and EB
signal which have plus and minus pins on connector for differential
signal inputs. It accepts two kinds of pulse types. One is dual
pulses input (CW/CCW mode) and the other is AB phase input.
The AB phase input can be multiplied by 1, 2 or 4. Multiply by 4 AB
phase mode is the most commonly used in incremental encoder
inputs.
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