YASKAWA Sigma-7 SGD7S Series - 7.6 Encoder Divided Pulse Output; 7.6.1 Overview; 7.6.2 Encoder Divided Pulse Output Signals

n To protect the machine by stopping machine operation with an alarm when the set
speed is reached or exceeded
n To limit the speed so that the load is driven beyond the allowable moment of inertia
Refer to relevant manual from the following list for the relationship between the speed
and the allowable moment of inertia.
& Σ-7-Series Rotary Servomotor Product Manual (Manual No.: SIEP S800001 36)
& Σ-7-Series Direct Drive Servomotor Product Manual (Manual No.: SIEP S800001
38)
& Σ-7-Series Linear Servomotor Product Manual (Manual No.: SIEP S800001 37)
n To increase the encoder output resolution and increase the position resolution man-
aged by the host controller (for a Linear Servomotor)
7.6 Encoder Divided Pulse Output
7.6.1 Overview
The encoder divided pulse output is a signal that is output from the encoder and pro-
cessed inside the SERVOPACK. It is then output externally in the form of two phase
pulse signals (phases A and B) with a 90° phase differential. At the host controller, it is
used as the position feedback.
The following table describes the signals and output phase forms.
7.6.2 Encoder Divided Pulse Output Signals
Type Signal Connector
Pin No.
Name Remarks
Output PAO CN1-17 Encoder
Divided Pulse
Output, Phase
A
n Rotary Servomotors
These encoder divided
pulse output pins output
the number of pulses per
Servomotor resolution
that is set in Pn212
(Number of Encoder
Output Pulses). The
phase difference
between phase A and
phase B is an electric
angle of 90°.
n Linear Servomotors
These encoder divided
pulse output pins output
pulses at the resolution
that is set in Pn281
(Encoder Output Resolu-
tion). The phase differ-
ence between phase A
and phase B is an elec-
tric angle of 90°.
/PAO CN1-18
PBO CN1-19 Encoder
Divided Pulse
Output, Phase
B
/PBO CN1-20
PCO CN1-21 Encoder
Divided Pulse
Output, Phase
C*
These pins output one pulse
every motor rotation.
/PCO CN1-22
* Refer to the following section for information on the origin within one encoder rotation.
Ä Chap. 7.6.2 ‘Encoder Divided Pulse Output Signals’ page 213
Sigma-7 Series SERVOPACKs
Application Functions
Encoder Divided Pulse Output > Encoder Divided Pulse Output Signals
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