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5.3 Speed Control
5-29
5.3.6 Encoder Output Pulses
The encoder pulse output is a signal that is output from the linear scale and processed inside the SERVO-
PACK. It is then output externally in the form of two phase pulse signal (phases A and B) with a 90 phas
e dif-
ferential. It is used as the position feedback to the host controller.
Signals and output phase form are as shown below.
(1) Signals
For details on the phase C, refer to (3) Encoder Output Pulse Signals from SERVOPACK with a Linear Scale by Ren-
ishaw plc.
(2) Output Phase Form
Note: The pulse width for phase C (origin pulse) changes according to the setting of the encoder output resolution (Pn281)
and becomes the same as that for phase A.
Even in reverse movement mode (Pn000.0 = 1), the output phase form is the same as that for the standard setting
(Pn000.0 = 0) above.
Type
Signal
Name
Connector
Pin Number
Name Remarks
Output
PAO CN1-33
Encoder output pulse: phase A
The resolution of the pulse output
from the SERVOPACK to the host
controller is set in the parameter for
the encoder output resolution
(Pn281). Phase A and phase B are
different from each other in phase by
an electric angle of 90.
/PAO CN1-34
PBO CN1-35
Encoder output pulse: phase B
/PBO CN1-36
PCO CN1-19
Encoder output pulse: phase C
*
/PCO CN1-20
CN1 CN2
PAO
PBO
PCO
SERVOPACK
Host controller
Serial
data
Linear
scale
Converts
serial
data to
pulse.
Dividing
circuit
(Pn281)
ENC
Serial
converter unit
Phase A
Phase B
Phase C
90
°
t
Phase A
Phase B
Phase C
90°
t
Forward movement (phase B leads by 90
) Reverse movement (phase A leads by 90
)
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