YASKAWA SGMJV

5 Operation
5.3.6 Encoder Output Pulses
5-30
5.3.6 Encoder Output Pulses
Encoder output pulse is the signal which processes the encoder output inside the SERVOPACK and then out-
puts externally in the form of 2-phase pulses (phase A and B) with 90° phase differential. It is used as the feed-
back of position.
Signals and output phase form are as shown below.
(1) Signals
(2) Output Phase Form
Note: The pulse width of the (Phase C origin pulse) changes according to the setting of the Pn212 and becomes the same
as that for phase A.
Even in reverse rotation mode (Pn000.0 = 1), the output phase form is the same as that for the standard setting
(Pn000.0 = 0).
Type
Signal
Name
Connector
Pin Number
Name Remarks
Output
PAO CN1-33 Encoder output pulse: phase A
Output pulses per motor rotation set
in the encoder output pulses (Pn212),
and phase A and phase B are different
from each other in phase by an elec-
tric angle of 90°.
/PAO CN1-34 Encoder output pulse: phase /A
PBO CN1-35 Encoder output pulse: phase B
/PBO CN1-36 Encoder output pulse: phase /B
PCO CN1-19 Encoder output pulse: phase C
One pulse is output per motor rota-
tion.
/PCO CN1-20 Encoder output pulse: phase /C
SERVOPACK
Host controller
Serial
data
ENC
CN1
Converts
serial
data to
pulse.
CN2
Phase A
(PAO)
Phase B
(PBO)
Phase C
(PCO)
If using the SERVOPACK’s phase-C pulse output for a zero point return, rotate the ser-
vomotor twice before starting a zero point return. If the configuration prevents the servo-
motor from returning to the zero point, perform a zero point return at a motor speed of
600 min
-1
or below. If the motor speed is faster than 600 min
-1
, the phase-C pulse output
may not be output correctly.
Phase A
Phase B
Phase C
90
°
t
Phase A
Phase B
Phase C
90°
t
Forward rotation (phase B leads by 90°) Reverse rotation (phase A leads by 90° 㧕