SIN+
(SIN+) - (SIN-)
4.0 V
Allowable input voltage range:
0 to 4.0 V (GND reference)
Allowable differential input voltage range:
0.6 to 1.35 Vpp
0.5 Vpp
Typical: 1 Vpp
0 V
0 V
Approx. 2.5 V
SIN-
4.0 V
Allowable input voltage range:
0 to 4.0 V (GND reference)
0.5 Vpp
0 V
Approx. 2.5 V
Differential
signal
Between COS+ and COS-, input a waveform with a phase shift of +90° or -90° from the sinusoidal
wave.
Make sure that the SIN and COS dif
ferential signals are within the range of 0.6 to 1.35 V. Also, make
sure that the SIN+, SIN-, COS+, and COS- signals are within the range of 0 to 4.0 V relative to the
GND reference.
The encoder may not convert the input signal correctly if it is out of the specified range.
Data Processing
SIN and COS signals are input to both the RS-422 receivers and the AD converters. The RS-422 re-
ceivers count the number of pulses with the x4 pulse counter and capture data at the timing of the
servo clock.
The AD converters obtain analog data at the timing of the servo clock and perform an arctangent oper-
ation to determine the sinusoidal phase for the obtained analog data.
By combining these two types of data, it is possible to generate high-accuracy position data.
SIN+
A
B
SIN-
RS422
receiver
x4 pulse counter
Arithmetic
-logic
section
Integer section
Decimal
section
RS422
receiver
COS+
COS-
AD
converter
AD
converter
3 Configuration Units
3-25
CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
3-3 Axis Interface Unit
3
3-3-8 Input Specifications for Sinusoidal Encoder
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