YASKAWA SGMGV - Encoder Output Pulse Signals from SERVOPACK with a External Encoder by Renishaw

9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control
9-9
9
Fully-closed Loop Control
9.1.7 Encoder Output Pulse Signals from SERVOPACK with a External Encoder
by Renishaw
The output position of the zero point signal (Ref) may vary in some models of the external encoder made by
Renishaw.
If using a Renishaw model, the phase-C pulses of the SERVOPACK are output at two positions.
For details on the specifications of the zero-point signals for a external encoder, refer to the manual for the
Renishaw external encoder.
(1) When Passing the 1st Zero Point Signal (Ref) in Positive Direction after Power ON
(2) When Passing the 1st Zero Point Signal (Ref) in Negative Direction after Power ON
Machine position (Positive direction)
Power ON
Zero point signal
㧔Ref㧕
Phase-C
Time
Second pulse is half as wide
as the phase-A pulse.
No zero point signal (Ref) is sent from the external encoder.
However, a phase-C pulse will be sent from the SERVOPACK
when moving in the negative direction, because it is the same
position from which a phase-C pulse was sent from the
SERVOPACK when moving in a positive direction.
Machine position (Positive direction)
Power ON
Zero point signal
㧔Ref㧕
Phase C
Time
Second pulse is half as wide
as the phase-A pulse.
No zero point signal (Ref) is sent from the external encoder.
However, a phase-C pulse will be sent from the SERVOPACK
when moving in the positive direction, because it is the same
position from which a phase-C pulse was sent from the
SERVOPACK when moving in a negative direction.