YASKAWA SGD7S

6.6 Position Control
6.6.1 Basic Settings for Position Control
6-31
6
Application Functions
Electrical Specifications for Pulse Train Reference
The following table describes the forms for pulse train references.
* The maximum reference frequency for the multipliers before multiplication are as follows:
×1 multiplier: 1 Mpps
×2 multiplier: 1 Mpps
×4 multiplier: 1 Mpps
Timing Example for Pulse Train References
The following example shows the timing of inputting the pulse train reference after the servo turns ON when
a signal and pulse train are used.
The interval (t3) between when the servo is turned ON until the pulse train reference is input must be at least
40 ms. If the reference is input in less than 40 ms, the reference pulses may not be received by the SERVO-
PACK.
Pulse Train Reference Form Electrical Specifications Remarks
Sign and pulse train
(SIGN and PLUS signals)
Maximum reference
frequency: 4 Mpps
(maximum reference
frequency for open-collector
output: 200 kpps)
t1, t2, t3, t7 ≤ 0.025 μs
t4, t5, t6 ≥ 0.5 μs
τ ≥ 0.125 μs
T-τ ≥ 0.125 μs
SIGN is high for
a forward refer-
ence and low for
a reverse refer-
ence.
CW and CCW pulse trains
Maximum reference
frequency: 4 Mpps
(maximum reference
frequency for open-collector
output: 200 kpps)
t1, t2 ≤ 0.025 μs
t3 ≥ 0.5 μs
τ ≥ 0.125 μs
T-τ ≥ 0.125 μs
–
Two-phase pulse trains with
90° phase differential (phases
A and B)
Maximum reference
frequency: 1 Mpps
*
(maximum reference
frequency for open-collector
output: 200 kpps)
t1 ≤ 0.1 μs
t2 ≤ 0.1 μs
τ ≥ 0.5 μs
T-τ ≥ 0.5 μs
–
t1 t2
t3
t4
t5 t6
t7
T

SIGN
PULS
Forward reference
Reverse
reference
t2
t3
T

CW
CCW
t1
Forward reference
Reverse
reference
t2

T
t1
Phase A
Phase B
Forward reference
Reverse
reference
Phase B lags
phase A by 90.
Phase B leads
phase A by 90.
t1≤36 ms
t2≤6 ms
(If Pn506 is set to 0.)
t3≥40 ms
CN1-11
CN1-7
L
H
H
t3
t2
t1
ON
Released
Servo ON
Base block
Sign and
pulse train