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5 Operation
5.4.1 Basic Settings for Position Control
5-40
(4) Electrical Specifications for Pulse Train Reference
Forms of pulse train references are as shown below.
Each multiplier’s maximum reference frequency before multiplication is 1 Mpps.
1 input pulse multiplier: 1 Mpps
2 input pulse multiplier: 1 Mpps
4 input pulse multiplier: 1 Mpps
(5) I/O Signal Timing Example
I/O signal timing example is as shown below.
Note: The interval from the time the servo ON signal is turned ON until a reference pulse is input must be at least 40 ms.
Otherwise the reference pulse may not be received by the SERVOPACK (t3).
Pulse Train Reference Form Electrical Specifications Remarks
Sign + pulse train input
(SIGN + PULS signal)
Maximum reference fre-
quency: 4 Mpps
(Maximum reference fre-
quency in case of open-
col
lector output: 200 kpps)
t1, t2, t3, t7 0.025 s
t4, t5, t6 0.5 s
0.125 s
T- 0.125 s
Sign (SIGN)
H = Forward
reference
L = Reverse
reference
Forward + Reverse pulse
train
Maximum reference fre-
quency: 4 Mpps
(Maximum reference fre-
quency in case of open-
col
lector output: 200 kpps)
t1, t2 0.025 s
t3 0.5 s
0.125 s
T- 0.125 s
Two-phase pulse train with
90 p
hase differential
(phase A + phase B)
Maximum reference fre-
quency: 1 Mpps*
(Maximum reference fre-
quency in case of open-
col
lector output: 200 kpps)
t1 0.1 s
t2 0.1 s
0.5 s
T- 0.5 s
Reference pulse
fo
rm is set with
Pn200.0.
Forward reference
Reverse reference
t1 t2
t3
t4
t5 t6
t7
T
Ǽ
SIGN
PULS
t2
t3
T
Ǽ
Reverse
Forward
t1
Forward reference
Reverse reference
Phase B leads
phase A by 90°.
Phase B lags
phase A by 90°.
Phase A
Phase B
t2
Ǽ
T
t1
Forward reference
Reverse reference
Servo ON
Baseblock
Sign + pulse train
Release
t1 ≤ 36 ms
t2 ≤ 6 ms
(When Pn506 is set to 0.)
t3 ≥ 40 ms
CN1-1
1
CN1-
7
L
H
H
ON
t3
t2
t1
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