6-19
6 Basic Control Functions
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-6 Fully-closed Control
6
6-6-2 Objects Requiring Settings
*2 These are the directions in which the Servo Drive counts the pulses from an external encoder with a 90° phase
difference outputs.
*3 For the external encoder connection direction, set the direction so that count-up occurs when the motor shaft is
rotating counterclockwise, and count-down occurs when the motor shaft is rotating clockwise. If the connection
direction cannot be selected due to installation conditions or any other reason, the count direction can be
reversed using External Feedback Pulse Direction Switching (3326 hex).
Precautions for Correct UsePrecautions for Correct Use
• If 3000 hex = 1, the encoder count direction becomes opposite to the count direction used for
monitoring, e.g., for the total external encoder feedback pulses.
If 3000 hex = 0, the count direction matches the count direction for monitoring.
• Even when the speed command is within the Servo Drive's speed command range, an
acceleration alarm will occur if the speed command exceeds the maximum speed of the motor.
• To confirm that the installation direction is correct, use the front-panel monitor or the CX-Drive
monitor function to check the counting direction of the total external encoder feedback pulses
and the total encoder feedback pulses. If the counting directions are the same, the
connections are correct.
Additional Information
Maximum Input Frequency
• The maximum speed when an external encoder with a resolution of 0.01 µm is used for the
serial communications is 0.01 µm × (400 × 10
6
) pps = 4.00 m/s.
An overspeed error will occur, however, if the motor shaft rotation speed exceeds the
maximum speed.
Count-down direction
EXB is 90° ahead of EXA.
t1 > 0.25 µs
t2 > 1.0 µs
EXB is 90° behind EXA.
t1 > 0.25 µs
t2 > 1.0 µs
t1
t2
t1
t2
EXA
EXB
EXA
EXB
Count-up direction
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